Sparse ten_J and ten_J_colind

PiperOrigin-RevId: 869712136 Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3
2026-02-13 06:55:42 -08:00
parent 277f469239
commit 5903d4826f
21 changed files with 118 additions and 43 deletions
@@ -754,6 +754,7 @@ struct mjModel_ {
  // sizes set after mjModel construction
  mjtSize nnames_map;             // number of slots in the names hash map
  mjtSize nJmom;                  // number of non-zeros in sparse actuator_moment matrix
+  mjtSize nJten;                  // number of non-zeros in sparse ten_J matrix
  mjtSize ngravcomp;              // number of bodies with nonzero gravcomp
  mjtSize nemax;                  // number of potential equality-constraint rows
  mjtSize njmax;                  // number of available rows in constraint Jacobian (legacy)