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Move island-specific sparse matrices from arena to stack.

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PiperOrigin-RevId: 923850345
Change-Id: I9683d7554b15b7cd8c45a8dce7814640aa266452
This commit is contained in:
Yuval Tassa
2026-05-30 03:07:31 -07:00
committed by Copybara-Service
parent 5d782a2bb8
commit 96bf8aea81
11 changed files with 122 additions and 402 deletions
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doc/changelog.rst
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@@ -19,7 +19,11 @@ General
- The header file ``mjthread.h`` was removed along with the engine threading API.
**Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
**Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
- Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint`
(multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
allocated on the stack.
Bug fixes
^^^^^^^^^