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_print.c
+6 -6
View File
@@ -1441,12 +1441,12 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printArray2d("FLEXEDGE_LENGTH", m->nflexedge, 1, d->flexedge_length, fp, float_format);
printArray2d("TEN_LENGTH", m->ntendon, 1, d->ten_length, fp, float_format);
mj_printSparsity("TEN_J: tendon moments", m->ntendon, m->nv, d->ten_J_rowadr, NULL,
d->ten_J_rownnz, NULL, d->ten_J_colind, fp);
printArray2dInt("TEN_J_ROWNNZ", m->ntendon, 1, d->ten_J_rownnz, fp);
printArray2dInt("TEN_J_ROWADR", m->ntendon, 1, d->ten_J_rowadr, fp);
printSparse("TEN_J", d->ten_J, m->ntendon, d->ten_J_rownnz,
d->ten_J_rowadr, d->ten_J_colind, fp, float_format);
mj_printSparsity("TEN_J: tendon moments", m->ntendon, m->nv, m->ten_J_rowadr, NULL,
m->ten_J_rownnz, NULL, m->ten_J_colind, fp);
printArray2dInt("TEN_J_ROWNNZ", m->ntendon, 1, m->ten_J_rownnz, fp);
printArray2dInt("TEN_J_ROWADR", m->ntendon, 1, m->ten_J_rowadr, fp);
printSparse("TEN_J", d->ten_J, m->ntendon, m->ten_J_rownnz,
m->ten_J_rowadr, m->ten_J_colind, fp, float_format);
for (int i=0; i < m->ntendon; i++) {
fprintf(fp, "TENDON %d: %d wrap points\n", i, d->ten_wrapnum[i]);
for (int j=0; j < d->ten_wrapnum[i]; j++) {