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

Remove unused code related to legacy island implementation.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_support.c
+1 -1
View File
@@ -1048,7 +1048,7 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
// non-simple: add off-diagonals
if (!m->dof_simplenum[i]) {
int adr = d->M_rowadr[i];
res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr, /*flg_unc1=*/0);
res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr);
}
}