chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Use CSR matrices for dof-dof index mappings

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_io.h
+2 -2
View File
@@ -101,9 +101,9 @@ MJAPI void mj_makeBSparse(int nv, int nbody, int nB,
MJAPI void mj_makeDofDofMaps(int nv, int nM, int nC, int nD,
const int* dof_Madr, const int* dof_simplenum, const int* dof_parentid,
const int* D_rownnz, const int* D_rowadr, const int* D_colind,
const int* M_rownnz, const int* M_rowadr,
const int* M_rownnz, const int* M_rowadr, const int* M_colind,
int* mapM2D, int* mapD2M, int* mapM2M,
int* remaining, int* M, int* D);
int* M, int* scratch);
//------------------------------- mjData -----------------------------------------------------------