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Remove redundant variable in mj_factorI

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PiperOrigin-RevId: 760604094
Change-Id: I664b4cc9d717bc12a4711feb3fa585777fb7a1aa
This commit is contained in:
Yuval Tassa
2025-05-19 06:41:06 -07:00
committed by Copybara-Service
parent 178fb49c2b
commit 84d658a5ad
1 changed files with 1 additions and 4 deletions
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src/engine/engine_core_smooth.c
+1 -4
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@@ -1673,12 +1673,9 @@ void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
// update triangle above row k // update triangle above row k
for (int adr=end - 1; adr >= start; adr--) { for (int adr=end - 1; adr >= start; adr--) {
// tmp = L(k, i) / L(k, k)
mjtNum tmp = mat[adr] * invD;
// update row i < k: L(i, 0..i) -= L(i, 0..i) * L(k, i) / L(k, k) // update row i < k: L(i, 0..i) -= L(i, 0..i) * L(k, i) / L(k, k)
int i = colind[adr]; int i = colind[adr];
mju_addToScl(mat + rowadr[i], mat + start, -tmp, rownnz[i]); mju_addToScl(mat + rowadr[i], mat + start, -mat[adr] * invD, rownnz[i]);
} }
// update row k: L(k, :) /= L(k, k) // update row k: L(k, :) /= L(k, k)