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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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include/mujoco/mjxmacro.h
-11
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@@ -969,12 +969,6 @@
X ( int, map_idof2dof, MJ_M(nv), 1 ) \
X ( mjtNum, ifrc_smooth, MJ_D(nidof), 1 ) \
X ( mjtNum, iacc_smooth, MJ_D(nidof), 1 ) \
XNV( int, iM_rownnz, MJ_D(nidof), 1 ) \
XNV( int, iM_rowadr, MJ_D(nidof), 1 ) \
XNV( int, iM_colind, MJ_M(nC), 1 ) \
XNV( mjtNum, iM, MJ_M(nC), 1 ) \
XNV( mjtNum, iLD, MJ_M(nC), 1 ) \
X ( mjtNum, iLDiagInv, MJ_D(nidof), 1 ) \
X ( mjtNum, iacc, MJ_D(nidof), 1 ) \
X ( int, efc_island, MJ_D(nefc), 1 ) \
X ( int, island_ne, MJ_D(nisland), 1 ) \
@@ -985,11 +979,6 @@
X ( int, map_iefc2efc, MJ_D(nefc), 1 ) \
X ( int, iefc_type, MJ_D(nefc), 1 ) \
X ( int, iefc_id, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_rownnz, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_rowadr, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_rowsuper, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_colind, MJ_D(nJ), 1 ) \
XNV( mjtNum, iefc_J, MJ_D(nJ), 1 ) \
X ( mjtNum, iefc_frictionloss, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_D, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_R, MJ_D(nefc), 1 ) \