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Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2.

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- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).

PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
This commit is contained in:
Yuval Tassa
2024-12-30 15:23:41 -08:00
committed by Copybara-Service
parent ec322641b7
commit 69c9ac074a
19 changed files with 53 additions and 44 deletions
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doc/changelog.rst
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@@ -13,6 +13,15 @@ Python bindings
from multiple threads. To run multiple threaded rollouts simultaneously, use the new class ``Rollout`` which
encapsulates the thread pool. Contribution by :github:user:`aftersomemath`.
General
^^^^^^^
.. admonition:: Breaking API changes (minor)
:class: attention
- The field ``mjData.qLDiagSqrtInv`` has been removed. This field is only required for the dual solvers. It is now
computed as-needed rather than unconditionally. Relatedly, added the corresponding argument to :ref:`mj_solveM2`.
Bug fixes
^^^^^^^^^
- Fixed a bug in the box-sphere collider, depth was incorrect for deep penetrations (:github:issue:`2206`).