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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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src/engine/engine_core_smooth.h
+1 -1
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@@ -51,7 +51,7 @@ MJAPI void mj_transmission(const mjModel* m, mjData* d);
// composite rigid body inertia algorithm
MJAPI void mj_crb(const mjModel* m, mjData* d);
// add tendon armature to qM
// add tendon armature to M
MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
// make inertia matrix