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Refactor mj_fullM. This change is part of the deprecation of mjData.qM.

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PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
This commit is contained in:
Yuval Tassa
2026-06-02 17:22:15 -07:00
committed by Copybara-Service
parent 49211a05c5
commit 7b9b88060e
15 changed files with 49 additions and 63 deletions
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include/mujoco/mujoco.h
+2 -2
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@@ -598,8 +598,8 @@ MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
// Get name of object with the specified mjtObj type and id; return NULL if name not found.
MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
// Convert sparse inertia matrix M into full (i.e. dense) matrix.
MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
// Convert sparse inertia matrix into full (i.e. dense) matrix.
MJAPI void mj_fullM(const mjModel* m, const mjData* d, mjtNum* dst);
// Multiply vector by inertia matrix.
MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);