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Add mju_sym2dense, document future breakage of mj_fullM

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PiperOrigin-RevId: 910242375
Change-Id: Ibfbdef9cfb66088723499ea257da09aee0d80938
This commit is contained in:
Yuval Tassa
2026-05-04 14:25:23 -07:00
committed by Copybara-Service
parent a51a7bf062
commit 767c607f58
19 changed files with 191 additions and 12 deletions
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wasm/codegen/generated/bindings.cc
+10
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@@ -10638,6 +10638,15 @@ mjtNum mju_sum_wrapper(const NumberArray& vec, int n) {
return mju_sum(vec_.data(), n);
}
void mju_sym2dense_wrapper(const val& res, const NumberArray& mat, int n, const NumberArray& rownnz, const NumberArray& rowadr, const NumberArray& colind) {
UNPACK_VALUE(mjtNum, res);
UNPACK_ARRAY(mjtNum, mat);
UNPACK_ARRAY(int, rownnz);
UNPACK_ARRAY(int, rowadr);
UNPACK_ARRAY(int, colind);
mju_sym2dense(res_.data(), mat_.data(), n, rownnz_.data(), rowadr_.data(), colind_.data());
}
void mju_symmetrize_wrapper(const val& res, const NumberArray& mat, int n) {
UNPACK_VALUE(mjtNum, res);
UNPACK_ARRAY(mjtNum, mat);
@@ -13461,6 +13470,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mju_subFrom3", &mju_subFrom3_wrapper);
function("mju_subQuat", &mju_subQuat_wrapper);
function("mju_sum", &mju_sum_wrapper);
function("mju_sym2dense", &mju_sym2dense_wrapper);
function("mju_symmetrize", &mju_symmetrize_wrapper);
function("mju_transformSpatial", &mju_transformSpatial_wrapper);
function("mju_transpose", &mju_transpose_wrapper);