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Use CSR matrices for dof-dof index mappings

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PiperOrigin-RevId: 795895311
Change-Id: I1000e0ee98906ef35990e73236e85d6354487b82
This commit is contained in:
Yuval Tassa
2025-08-16 13:05:45 -07:00
committed by Copybara-Service
parent c0096b51a4
commit 6b41fbe72a
11 changed files with 54 additions and 102 deletions
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include/mujoco/mjmodel.h
+2 -2
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@@ -1234,8 +1234,8 @@ struct mjModel_ {
int* D_rowadr; // full inertia: row addresses (nv x 1)
int* D_diag; // full inertia: index of diagonal element (nv x 1)
int* D_colind; // full inertia: column indices (nD x 1)
int* mapM2D; // index mapping from qM to D (nD x 1)
int* mapD2M; // index mapping from D to qM (nM x 1)
int* mapM2D; // index mapping from M to D (nD x 1)
int* mapD2M; // index mapping from D to M (nC x 1)
// compilation signature
uint64_t signature; // also held by the mjSpec that compiled this model
include/mujoco/mjxmacro.h
+1 -1
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@@ -609,7 +609,7 @@
X ( int, D_diag, nv, 1 ) \
X ( int, D_colind, nD, 1 ) \
X ( int, mapM2D, nD, 1 ) \
X ( int, mapD2M, nM, 1 )
X ( int, mapD2M, nC, 1 )
//-------------------------------- mjData ----------------------------------------------------------