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Separate mj_addM into dense and sparse functions.

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PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
This commit is contained in:
Kyle Bayes
2023-06-09 06:43:34 -07:00
committed by Copybara-Service
parent 466c9aca82
commit 81d74c56e1
4 changed files with 133 additions and 109 deletions
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src/engine/engine_support.h
+7
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@@ -104,6 +104,13 @@ MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum
MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
int* rownnz, int* rowadr, int* colind);
// add inertia matrix to sparse uncompressed destination matrix
MJAPI void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
int* rownnz, int* rowadr, int* colind);
// add inertia matrix to dense destination matrix
MJAPI void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst);
//-------------------------- sparse system matrix conversion ---------------------------------------