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Delete sparsity structures from mjData, use the ones in mjModel

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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
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src/engine/engine_solver.c
+3 -3
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@@ -885,9 +885,9 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
ctx->qacc = d->qacc;
// inertia
ctx->M_rownnz = d->M_rownnz;
ctx->M_rowadr = d->M_rowadr;
ctx->M_colind = d->M_colind;
ctx->M_rownnz = m->M_rownnz;
ctx->M_rowadr = m->M_rowadr;
ctx->M_colind = m->M_colind;
ctx->M = d->M;
ctx->qLD = d->qLD;
ctx->qLDiagInv = d->qLDiagInv;