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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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python/mujoco/indexer_xmacro.h
-1
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@@ -379,7 +379,6 @@
X( mjtNum, , xaxis, njnt, 3 ) \
X( mjtNum, , cdof, nv, 6 ) \
X( mjtNum, , qLDiagInv, nv, 1 ) \
X( mjtNum, , qLDiagSqrtInv, nv, 1 ) \
X( mjtNum, , cdof_dot, nv, 6 ) \
X( mjtNum, , qfrc_bias, nv, 1 ) \
X( mjtNum, , qfrc_passive, nv, 1 ) \