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New implicitfast integrator and sparse RNE derivatives for implicit.

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PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
This commit is contained in:
Yuval Tassa
2023-03-15 13:16:45 -07:00
committed by Copybara-Service
parent 056e849273
commit 8c7f6ce5a0
23 changed files with 961 additions and 332 deletions
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src/user/user_objects.cc
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@@ -327,6 +327,7 @@ mjCBody::mjCBody(mjCModel* _model) {
weldid = -1;
dofnum = 0;
lastdof = -1;
subtreedofs = 0;
gravcomp = 0;
userdata.clear();