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Rename efc_diagApprox -> efc_diagA.

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The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.

PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
This commit is contained in:
Yuval Tassa
2026-05-31 04:53:36 -07:00
committed by Copybara-Service
parent cd6db9ebe2
commit 4548e81e4d
13 changed files with 32 additions and 28 deletions
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src/engine/engine_core_constraint.h
+2 -2
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@@ -74,10 +74,10 @@ int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int di
//------------------------ parameter computation/extraction ----------------------------------------
// compute efc_diagApprox
// compute efc_diagA
void mj_diagApprox(const mjModel* m, mjData* d);
// compute efc_R, efc_D, efc_KDIP, adjust diagApprox
// compute efc_R, efc_D, efc_KDIP, adjust diagA
void mj_makeImpedance(const mjModel* m, mjData* d);