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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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src/engine/engine_support.h
+1 -1
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@@ -58,7 +58,7 @@ MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k);
//-------------------------- inertia functions -----------------------------------------------------
// convert sparse inertia matrix M into full matrix
MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
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);