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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_print.c
+1 -1
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@@ -897,7 +897,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
printArrayInt("D_ROWADR", 1, m->nv, m->D_rowadr, fp);
printArrayInt("D_COLIND", 1, m->nD, m->D_colind, fp);
printArrayInt("MAPM2D", 1, m->nD, m->mapM2D, fp);
printArrayInt("MAPD2M", 1, m->nM, m->mapD2M, fp);
printArrayInt("MAPD2M", 1, m->nC, m->mapD2M, fp);
// signature
fprintf(fp, "\nSIGNATURE\n");