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