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Fix memory overallocation in sparse primal solvers.

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PiperOrigin-RevId: 923586079
Change-Id: I8d484b840063c0a7a8a79c5bdc9074a57d2ee55f
This commit is contained in:
Yuval Tassa
2026-05-29 13:51:02 -07:00
committed by Copybara-Service
parent ffe1eadd7e
commit 5d782a2bb8
1 changed files with 1 additions and 1 deletions
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src/engine/engine_solver.c
+1 -1
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@@ -1072,7 +1072,7 @@ static void PrimalAllocate(mjData* d, mjPrimalContext* ctx, int flg_Newton) {
// local sizes and flags
int nv = ctx->nv;
int nefc = ctx->nefc;
int nJ = ctx->is_sparse ? d->nJ : 0;
int nJ = ctx->is_sparse ? ctx->nJ : 0;
int is_sparse = ctx->is_sparse;
int is_elliptic = ctx->is_elliptic;