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Expose mj_makeM as a sub-component.

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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
This commit is contained in:
Yuval Tassa
2025-05-27 00:33:27 -07:00
committed by Copybara-Service
parent 4a102c37bc
commit 89e39dc0a7
12 changed files with 58 additions and 10 deletions
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src/engine/engine_core_smooth.h
+1 -1
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@@ -55,7 +55,7 @@ MJAPI void mj_crb(const mjModel* m, mjData* d);
MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
// make inertia matrix
void mj_makeM(const mjModel* m, mjData* d);
MJAPI void mj_makeM(const mjModel* m, mjData* d);
// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd (legacy implementation)
MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,