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Move tendon sparsity fields from mjData to mjModel

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PiperOrigin-RevId: 875087590
Change-Id: I1a5489d2d2011795ee38b09d547e68acd72e3cc7
This commit is contained in:
Taylor Howell
2026-02-25 04:31:37 -08:00
committed by Copybara-Service
parent 253494739a
commit 52ed96bc3a
25 changed files with 332 additions and 178 deletions
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src/engine/engine_io.c
+14 -12
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@@ -211,10 +211,10 @@ void mj_makeModel(mjModel** dest,
mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap, mjtSize nskin,
mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nwrap,
mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext, mjtSize ntextdata,
mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap, mjtSize nplugin,
mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nJten,
mjtSize nwrap, mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext,
mjtSize ntextdata, mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap,
mjtSize nplugin, mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
mjtSize nuser_site, mjtSize nuser_cam, mjtSize nuser_tendon, mjtSize nuser_actuator,
mjtSize nuser_sensor, mjtSize nnames, mjtSize npaths) {
intptr_t offset = 0;
@@ -224,7 +224,7 @@ void mj_makeModel(mjModel** dest,
// CHECK SIZE PARAMETERS
{
// dummy variables for MJMODEL_SIZES set after mjModel construction
int nnames_map = 0, nJmom = 0, nJten = 0, ngravcomp = 0, nemax = 0, njmax = 0, nconmax=0;
int nnames_map = 0, nJmom = 0, ngravcomp = 0, nemax = 0, njmax = 0, nconmax=0;
int nuserdata=0, nsensordata=0, npluginstate=0, nhistory=0, narena=0, nbuffer=0;
// sizes must be non-negative and fit in int, except for the byte arrays texdata and textdata
@@ -243,7 +243,7 @@ void mj_makeModel(mjModel** dest,
#undef X
// suppress unused variable warnings
(void)nnames_map; (void)nJmom; (void)nJten; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
(void)nnames_map; (void)nJmom; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
(void)nuserdata; (void)nsensordata; (void)npluginstate; (void)nhistory; (void)narena;
(void)nbuffer;
}
@@ -323,6 +323,7 @@ void mj_makeModel(mjModel** dest,
m->nexclude = nexclude;
m->neq = neq;
m->ntendon = ntendon;
m->nJten = nJten;
m->nwrap = nwrap;
m->nsensor = nsensor;
m->nnumeric = nnumeric;
@@ -410,11 +411,11 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
src->nskinbone, src->nskinbonevert, src->nhfield, src->nhfielddata,
src->ntex, src->ntexdata, src->nmat, src->npair, src->nexclude,
src->neq, src->ntendon, src->nwrap, src->nsensor, src->nnumeric,
src->nnumericdata, src->ntext, src->ntextdata, src->ntuple,
src->ntupledata, src->nkey, src->nmocap, src->nplugin, src->npluginattr,
src->nuser_body, src->nuser_jnt, src->nuser_geom, src->nuser_site,
src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->neq, src->ntendon, src->nJten, src->nwrap, src->nsensor,
src->nnumeric, src->nnumericdata, src->ntext, src->ntextdata,
src->ntuple, src->ntupledata, src->nkey, src->nmocap, src->nplugin,
src->npluginattr, src->nuser_body, src->nuser_jnt, src->nuser_geom,
src->nuser_site, src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->nuser_sensor, src->nnames, src->npaths);
}
if (!dest) {
@@ -597,7 +598,8 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
sizes[49], sizes[50], sizes[51], sizes[52], sizes[53], sizes[54], sizes[55],
sizes[56], sizes[57], sizes[58], sizes[59], sizes[60], sizes[61], sizes[62],
sizes[63], sizes[64], sizes[65], sizes[66], sizes[67], sizes[68], sizes[69],
sizes[70], sizes[71], sizes[72], sizes[73], sizes[74], sizes[75], sizes[76]);
sizes[70], sizes[71], sizes[72], sizes[73], sizes[74], sizes[75], sizes[76],
sizes[77]);
// mj_makeModel may fail if the input buffer has invalid sizes
if (!m) {