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Implement sleeping in engine

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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
This commit is contained in:
Yuval Tassa
2025-11-07 03:32:03 -08:00
committed by Copybara-Service
parent 1e0226d360
commit 769f37b653
55 changed files with 3602 additions and 677 deletions
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src/engine/engine_util_sparse.h
+7
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@@ -41,6 +41,13 @@ MJAPI int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
MJAPI void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind);
// res[row, :] = mat[row, :]
void mju_copySparse(mjtNum* res, const mjtNum* mat, const int* rownnz, const int* rowadr,
const int* row, int nrow);
// res[row, :] = 0
void mju_zeroSparse(mjtNum* res, const int* rownnz, const int* rowadr, const int* row, int nrow);
// multiply sparse matrix and dense vector: res = mat * vec
MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int nr, const int* rownnz, const int* rowadr,