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
@@ -669,9 +669,6 @@ void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
  sim->ui0.sect[SECT_WATCH].item[2].multi.nelem = 1;
  mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid field");

-  // prepare symbols needed by xmacro
-  MJDATA_POINTERS_PREAMBLE(m);
-
  // find specified field in mjData arrays, update value
  #define X(TYPE, NAME, NR, NC)                                                                  \
    if (!mju::strcmp_arr(#NAME, sim->field) &&                                                   \