Sparse ten_J and ten_J_colind

PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3

test/engine/engine_core_smooth_test.cc

@@ -73,7 +73,6 @@ TEST_F(CoreSmoothTest, MjDataWorldBodyValuesAreInitialized) {
   mj_rnePostConstraint(model, data);
 
   {
-    MJDATA_POINTERS_PREAMBLE(model)
 #define X(type, name, d0, d1)                                                 \
     if constexpr (std::string_view(#d0) == "nbody") {                         \
       absl::Span<type> values(data->name, model->d0 * d1);                    \

test/engine/engine_forward_test.cc

@@ -725,7 +725,6 @@ TEST_F(ForwardTest, NormalizeQuats) {
   mj_step(model, data_n);
 
   // expect everything to match
-  MJDATA_POINTERS_PREAMBLE(model)
   #define X(type, name, nr, nc)                                 \
     for (int i = 0; i < model->nr; i++)                         \
       for (int j = 0; j < nc; j++)                              \

test/engine/engine_thread_test.cc

@@ -71,7 +71,6 @@ TEST_F(ThreadTest, SingleAndMultiThreadedMatch) {
 
   // compare the mjData's.
   {
-    MJDATA_POINTERS_PREAMBLE((model))
     #define X(type, name, nr, nc)                                     \
         EXPECT_EQ(std::memcmp(data->name, data_threaded->name,        \
                               sizeof(type)*(model->nr)*(nc)),         \
@@ -127,7 +126,6 @@ TEST_F(ThreadTest, IslandSingleAndMultiThreadedMatch) {
 
   // compare the mjData's.
   {
-    MJDATA_POINTERS_PREAMBLE((model))
     #define X(type, name, nr, nc)                                     \
         EXPECT_EQ(std::memcmp(data->name, data_threaded->name,        \
                               sizeof(type)*(model->nr)*(nc)),         \