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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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unity/Runtime/Bindings/MjBindings.cs
-13
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@@ -4983,19 +4983,6 @@ public unsafe struct mjData_ {
public double* subtree_angmom;
public double* qH;
public double* qHDiagInv;
public int* B_rownnz;
public int* B_rowadr;
public int* B_colind;
public int* M_rownnz;
public int* M_rowadr;
public int* M_colind;
public int* mapM2M;
public int* D_rownnz;
public int* D_rowadr;
public int* D_diag;
public int* D_colind;
public int* mapM2D;
public int* mapD2M;
public double* qDeriv;
public double* qLU;
public double* actuator_force;