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Put sparsity structures in mjModel, don't use them yet.

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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
This commit is contained in:
Yuval Tassa
2025-08-14 07:36:59 -07:00
committed by Copybara-Service
parent f077fd00a9
commit 7eb13777f8
9 changed files with 404 additions and 178 deletions
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unity/Runtime/Bindings/MjBindings.cs
+17 -4
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@@ -5267,6 +5267,10 @@ public unsafe struct mjModel_ {
public int nbvhdynamic;
public int noct;
public int njnt;
public int nM;
public int nB;
public int nC;
public int nD;
public int ngeom;
public int nsite;
public int ncam;
@@ -5328,10 +5332,6 @@ public unsafe struct mjModel_ {
public int nnames;
public int npaths;
public int nnames_map;
public int nM;
public int nB;
public int nC;
public int nD;
public int nJmom;
public int ntree;
public int ngravcomp;
@@ -5762,6 +5762,19 @@ public unsafe struct mjModel_ {
public char* names;
public int* names_map;
public char* paths;
public int* B_rownnz;
public int* B_rowadr;
public int* B_colind;
public int* M_rownnz;
public int* M_rowadr;
public int* M_colind;
public int* mapM2M;
public int* D_rownnz;
public int* D_rowadr;
public int* D_diag;
public int* D_colind;
public int* mapM2D;
public int* mapD2M;
public UInt64 signature;
}