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Add Flex component.

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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
2023-10-12 10:15:46 +01:00
committed by Saran Tunyasuvunakool
parent 649a474788
commit 5a70ad08ab
82 changed files with 9658 additions and 1581 deletions
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src/engine/engine_util_sparse.h
+14
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@@ -63,6 +63,20 @@ int mju_combineSparse(mjtNum* dst, const mjtNum* src, mjtNum a, mjtNum b,
void mju_combineSparseInc(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind);
// dst += src, only at common non-zero indices
void mju_addToSparseInc(mjtNum* dst, const mjtNum* src,
int nnzdst, const int* inddst,
int nnzsrc, const int* indsrc);
// add to sparse matrix: dst = dst + scl*src, return nnz of result
int mju_addToSparseMat(mjtNum* dst, const mjtNum* src, int n, int nrow, mjtNum scl,
int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,
mjtNum* buf, int* buf_ind);
// add(merge) two chains
int mju_addChains(int* res, int n, int NV1, int NV2,
const int* chain1, const int* chain2);
// transpose sparse matrix
MJAPI void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
int* res_rownnz, int* res_rowadr, int* res_colind,