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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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include/mujoco/mjxmacro.h
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@@ -632,7 +632,6 @@
X ( mjtNum, qM, nM, 1 ) \
X ( mjtNum, qLD, nM, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
X ( mjtNum, qLDiagSqrtInv, nv, 1 ) \
XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
XMJV( mjtByte, bvh_active, nbvh, 1 ) \
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \