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Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.

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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
This commit is contained in:
Yuval Tassa
2025-05-13 10:19:22 -07:00
committed by Copybara-Service
parent 436b5a8e1f
commit 627fffdef9
18 changed files with 99 additions and 101 deletions
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src/engine/engine_solver.c
+3 -3
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@@ -881,10 +881,10 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
ctx->qacc = d->qacc;
// inertia
ctx->M_rownnz = d->M_rownnz;
ctx->M_rowadr = d->M_rowadr;
ctx->M_rownnz = d->C_rownnz;
ctx->M_rowadr = d->C_rowadr;
ctx->M_diagnum = m->dof_simplenum;
ctx->M_colind = d->M_colind;
ctx->M_colind = d->C_colind;
ctx->dof_Madr = m->dof_Madr;
ctx->dof_parentid = m->dof_parentid;
ctx->qM = d->qM;