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Remove unused code related to legacy island implementation.

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Also fix a docstring.

PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
This commit is contained in:
Yuval Tassa
2025-05-12 15:38:15 -07:00
committed by Copybara-Service
parent 8a7c42c747
commit 755564a348
14 changed files with 67 additions and 138 deletions
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src/engine/engine_core_smooth.c
+2 -2
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@@ -1875,13 +1875,13 @@ void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv,
// one vector
if (n == 1) {
x[i] -= mju_dotSparse(qLD+adr, x, d, colind+adr, /*flg_unc1=*/0);
x[i] -= mju_dotSparse(qLD+adr, x, d, colind+adr);
}
// multiple vectors
else {
for (int offset=0; offset < n*nv; offset+=nv) {
x[i+offset] -= mju_dotSparse(qLD+adr, x+offset, d, colind+adr, /*flg_unc1=*/0);
x[i+offset] -= mju_dotSparse(qLD+adr, x+offset, d, colind+adr);
}
}
}