Add mjData.M, not yet used.

PiperOrigin-RevId: 758351796 Change-Id: I0786966b2f2c2e699db845cda6940a8821b23f49
2025-05-13 13:27:01 -07:00
parent 1e02d66c3d
commit 79c74d7eae
7 changed files with 16 additions and 0 deletions
@@ -298,6 +298,7 @@ struct mjData_ {
  // computed by mj_fwdPosition/mj_crb
  mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
  mjtNum* qM;                // total inertia (sparse)                           (nM x 1)
+  mjtNum* M;                 // total inertia (compressed sparse row)            (nC x 1)

  // computed by mj_fwdPosition/mj_factorM
  mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
@@ -653,6 +653,7 @@
    X   ( mjtNum,    actuator_moment,   nJmom,       1           ) \
    X   ( mjtNum,    crb,               nbody,       10          ) \
    X   ( mjtNum,    qM,                nM,          1           ) \
+    X   ( mjtNum,    M,                 nC,          1           ) \
    X   ( mjtNum,    qLD,               nC,          1           ) \
    X   ( mjtNum,    qLDiagInv,         nv,          1           ) \
    XMJV( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \