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Allow mj_mulJac(T)Vec_island to read and write from uncompressed vectors (length nv or nefc).

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PiperOrigin-RevId: 562547310
Change-Id: Id517c1842e711639f4113d23cc364945839a3759
This commit is contained in:
Yuval Tassa
2023-09-04 06:50:45 -07:00
committed by Copybara-Service
parent 0e36f00857
commit 5cef4708f2
3 changed files with 95 additions and 20 deletions
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src/engine/engine_core_constraint.h
+4 -4
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@@ -39,15 +39,15 @@ MJAPI int mj_isDual(const mjModel* m);
MJAPI void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// multiply Jacobian by vector, for one island
MJAPI void mj_mulJacVec_island(const mjModel* m, const mjData* d,
mjtNum* res, const mjtNum* vec, int island);
MJAPI void mj_mulJacVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
int island, int flg_resunc, int flg_vecunc);
// multiply JacobianT by vector
MJAPI void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// multiply JacobianT by vector, for one island
MJAPI void mj_mulJacTVec_island(const mjModel* m, const mjData* d,
mjtNum* res, const mjtNum* vec, int island);
MJAPI void mj_mulJacTVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
int island, int flg_resunc, int flg_vecunc);
//-------------------------- utility functions -----------------------------------------------------