Migrate mjd_inverseFD mass Jacobian from qM to M

PiperOrigin-RevId: 942268237 Change-Id: I0ecfe161867ce9930cd6366d778077df2cd3197f
2026-07-03 15:35:16 -07:00
parent 4b345457a8
commit 7e9ac58ff9
12 changed files with 24 additions and 21 deletions
@@ -22,6 +22,9 @@ General
   :class: attention

   - Return type of :ref:`mj_encode` and the :ref:`mjfEncode` callback changed from ``int`` to ``mjtSize`` (64-bit).
+   - Switched :ref:`mjd_inverseFD` to use the CSR-format ``mjData.M`` representation instead of the legacy ``mjData.qM``
+     for the mass matrix derivative. This changes the shape of the ``DmDq`` parameter from ``(nv x nM)`` to
+     ``(nv x nC)``.

 Version 3.10.0 (June 22, 2026)
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