chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Delete sparsity structures from mjData, use the ones in mjModel

Browse Source 
PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
This commit is contained in:
Yuval Tassa
2025-08-14 09:11:47 -07:00
committed by Copybara-Service
parent 7eb13777f8
commit 977f94e9df
25 changed files with 120 additions and 349 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjxmacro.h
-13
View File
@@ -700,19 +700,6 @@
X ( mjtNum, subtree_angmom, nbody, 3 ) \
XNV ( mjtNum, qH, nC, 1 ) \
X ( mjtNum, qHDiagInv, nv, 1 ) \
XNV ( int, B_rownnz, nbody, 1 ) \
XNV ( int, B_rowadr, nbody, 1 ) \
XNV ( int, B_colind, nB, 1 ) \
XNV ( int, M_rownnz, nv, 1 ) \
XNV ( int, M_rowadr, nv, 1 ) \
XNV ( int, M_colind, nC, 1 ) \
XNV ( int, mapM2M, nC, 1 ) \
XNV ( int, D_rownnz, nv, 1 ) \
XNV ( int, D_rowadr, nv, 1 ) \
XNV ( int, D_diag, nv, 1 ) \
XNV ( int, D_colind, nD, 1 ) \
XNV ( int, mapM2D, nD, 1 ) \
XNV ( int, mapD2M, nM, 1 ) \
XNV ( mjtNum, qDeriv, nD, 1 ) \
XNV ( mjtNum, qLU, nD, 1 ) \
X ( mjtNum, actuator_force, nu, 1 ) \