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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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unity/Runtime/Bindings/MjBindings.cs
+4 -4
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@@ -4994,9 +4994,6 @@ public unsafe struct mjData_ {
public double* bvh_aabb_dyn;
public int* ten_wrapadr;
public int* ten_wrapnum;
public int* ten_J_rownnz;
public int* ten_J_rowadr;
public int* ten_J_colind;
public double* ten_J;
public double* ten_length;
public int* wrap_obj;
@@ -5347,6 +5344,7 @@ public unsafe struct mjModel_ {
public Int64 nexclude;
public Int64 neq;
public Int64 ntendon;
public Int64 nJten;
public Int64 nwrap;
public Int64 nsensor;
public Int64 nnumeric;
@@ -5371,7 +5369,6 @@ public unsafe struct mjModel_ {
public Int64 npaths;
public Int64 nnames_map;
public Int64 nJmom;
public Int64 nJten;
public Int64 ngravcomp;
public Int64 nemax;
public Int64 njmax;
@@ -5712,6 +5709,9 @@ public unsafe struct mjModel_ {
public int* tendon_group;
public int* tendon_treenum;
public int* tendon_treeid;
public int* ten_J_rownnz;
public int* ten_J_rowadr;
public int* ten_J_colind;
public byte* tendon_limited;
public byte* tendon_actfrclimited;
public double* tendon_width;