Remove unused mjData argument in private function mj_solveLD.

PiperOrigin-RevId: 464087933
Change-Id: Ibe9e9713680a02bfe098c39191f9b706e2c70c12

src/engine/engine_core_smooth.c

@@ -931,7 +931,7 @@ void mj_factorM(const mjModel* m, mjData* d) {
 // sparse backsubstitution:  x = inv(L'*D*L)*y
 //  L is in lower triangle of qLD; D is on diagonal of qLD
 //  handle n vectors at once
-void mj_solveLD(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n,
+void mj_solveLD(const mjModel* m, mjtNum* x, const mjtNum* y, int n,
                 const mjtNum* qLD, const mjtNum* qLDiagInv) {
   mjtNum tmp;
 
@@ -1051,7 +1051,7 @@ void mj_solveLD(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n,
 // sparse backsubstitution:  x = inv(L'*D*L)*y
 //  use factorization in d
 void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
-  mj_solveLD(m, d, x, y, n, d->qLD, d->qLDiagInv);
+  mj_solveLD(m, x, y, n, d->qLD, d->qLDiagInv);
 }
 
 

src/engine/engine_core_smooth.h

@@ -56,7 +56,7 @@ MJAPI void mj_factorI(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD,
 MJAPI void mj_factorM(const mjModel* m, mjData* d);
 
 // sparse backsubstitution:  x = inv(L'*D*L)*y
-MJAPI void mj_solveLD(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n,
+MJAPI void mj_solveLD(const mjModel* m, mjtNum* x, const mjtNum* y, int n,
                       const mjtNum* qLD, const mjtNum* qLDiagInv);
 
 // sparse backsubstitution:  x = inv(L'*D*L)*y, use factorization in d

src/engine/engine_forward.c

@@ -519,7 +519,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
 
     // solve
     mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
-    mj_solveLD(m, d, qacc, qfrc, 1, d->qH, d->qHDiagInv);
+    mj_solveLD(m, qacc, qfrc, 1, d->qH, d->qHDiagInv);
   }
 
   // advance state and time

test/engine/engine_derivative_test.cc

@@ -289,7 +289,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
       Ac[i*nv + i]  = -m->jnt_stiffness[i];
       Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
     }
-    mj_solveLD(m, d, Ac, Ac, 2*nv, d->qH, d->qHDiagInv);
+    mj_solveLD(m, Ac, Ac, 2*nv, d->qH, d->qHDiagInv);
 
     // A = [dt*Ac; Ac]
     mju_transpose(A, Ac, 2*nv, nv);
@@ -314,7 +314,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
   if (B) {
     mjtNum *Bc = mj_stackAlloc(d, nu*nv);
     mjtNum *BcT = mj_stackAlloc(d, nv*nu);
-    mj_solveLD(m, d, Bc, d->actuator_moment, nu, d->qH, d->qHDiagInv);
+    mj_solveLD(m, Bc, d->actuator_moment, nu, d->qH, d->qHDiagInv);
     mju_transpose(BcT, Bc, nu, nv);
     mju_scl(B, BcT, dt*dt, nu*nv);
     mju_scl(B+nu*nv, BcT, dt, nu*nv);