New implicitfast integrator and sparse RNE derivatives for implicit.

PiperOrigin-RevId: 516910733 Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:16:45 -07:00
parent 056e849273
commit 8c7f6ce5a0
23 changed files with 961 additions and 332 deletions
@@ -235,7 +235,8 @@ class mjCModel {
  int npluginattr;                // number of chars in all plugin config attributes
  int nnames;                     // number of chars in all names
  int nM;                         // number of non-zeros in sparse inertia matrix
-  int nD;                         // number of non-zeros in sparse derivative matrix
+  int nD;                         // number of non-zeros in sparse dof-dof matrix
+  int nB;                         // number of non-zeros in sparse body-dof matrix

  //------------------------ object lists
  // objects created here