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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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test/engine/engine_core_smooth_test.cc
+4 -8
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@@ -154,12 +154,8 @@ TEST_F(CoreSmoothTest, FixedTendonSortedIndices) {
mjData* data = mj_makeData(model);
mj_fwdPosition(model, data);
int rowadr = data->ten_J_rowadr[0];
int* colind = data->ten_J_colind + rowadr;
mjtNum* J = data->ten_J + rowadr;
mjtNum* J = data->ten_J;
EXPECT_THAT(vector<mjtNum>(J, J + 3), ElementsAre(1, 2, 3));
EXPECT_THAT(vector<int>(colind, colind + 3), ElementsAre(0, 1, 2));
mj_deleteData(data);
mj_deleteModel(model);
@@ -253,11 +249,11 @@ TEST_F(CoreSmoothTest, TendonArmature) {
// add tendon inertias to M2 using outer product
for (int j=0; j < m->ntendon; j++) {
// get tendon Jacobian
int rowadr = d->ten_J_rowadr[j];
int* rownnz = d->ten_J_rownnz + j;
int rowadr = m->ten_J_rowadr[j];
int* rownnz = m->ten_J_rownnz + j;
int zero = 0;
mju_sparse2dense(ten_J.data(), d->ten_J + rowadr, 1, nv,
rownnz, &zero, d->ten_J_colind + rowadr);
rownnz, &zero, m->ten_J_colind + rowadr);
// get tendon inertia only, using outer product
mju_mulMatMat(ten_M.data(), ten_J.data(), ten_J.data(), nv, 1, nv);