chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Move tendon sparsity fields from mjData to mjModel

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_passive.c
+3 -3
View File
@@ -473,9 +473,9 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
// transform to joint torque, add to qfrc_{spring, damper}
if (frc_spring || frc_damper) {
int end = d->ten_J_rowadr[i] + d->ten_J_rownnz[i];
for (int j=d->ten_J_rowadr[i]; j < end; j++) {
int k = d->ten_J_colind[j];
int end = m->ten_J_rowadr[i] + m->ten_J_rownnz[i];
for (int j=m->ten_J_rowadr[i]; j < end; j++) {
int k = m->ten_J_colind[j];
mjtNum J = d->ten_J[j];
d->qfrc_spring[k] += J * frc_spring;
d->qfrc_damper[k] += J * frc_damper;