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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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unity/Runtime/Bindings/MjBindings.cs
+1 -2
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@@ -4917,7 +4917,6 @@ public unsafe struct mjData_ {
public double* qM;
public double* qLD;
public double* qLDiagInv;
public double* qLDiagSqrtInv;
public double* bvh_aabb_dyn;
public byte* bvh_active;
public double* flexedge_velocity;
@@ -6679,7 +6678,7 @@ public static unsafe extern void mj_factorM(mjModel_* m, mjData_* d);
public static unsafe extern void mj_solveM(mjModel_* m, mjData_* d, double* x, double* y, int n);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_solveM2(mjModel_* m, mjData_* d, double* x, double* y, int n);
public static unsafe extern void mj_solveM2(mjModel_* m, mjData_* d, double* x, double* y, double* sqrtInvD, int n);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_comVel(mjModel_* m, mjData_* d);