Remove unused code related to legacy island implementation.

Also fix a docstring. PiperOrigin-RevId: 757939564 Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
2025-05-12 15:38:15 -07:00
parent 8a7c42c747
commit 755564a348
14 changed files with 67 additions and 138 deletions
@@ -187,8 +187,7 @@ static void residual(const mjModel* m, const mjData* d, mjtNum* res, int i, int
      res[j] = d->efc_b[i+j] + mju_dotSparse(d->efc_AR + d->efc_AR_rowadr[i+j],
                                             d->efc_force,
                                             d->efc_AR_rownnz[i+j],
-                                             d->efc_AR_colind + d->efc_AR_rowadr[i+j],
-                                             /*flg_unc1=*/0);
+                                             d->efc_AR_colind + d->efc_AR_rowadr[i+j]);
    }
  }