Improve mj_addM and associated test

- Updated docs to clarify that only the lower triangle is touched - The function was unnecessarily adding the upper triangle in the sparse case - The test used an unnecessarily large model and stepping it leading to timeouts under ASAN PiperOrigin-RevId: 798528736 Change-Id: I592cc17dfb62379bb0cd6b332a8eb7e8b0ef6355
2025-08-23 03:56:02 -07:00
parent a64a26c3ae
commit a230aa60c5
6 changed files with 20 additions and 22 deletions
@@ -492,7 +492,7 @@ Multiply vector by (inertia matrix)^(1/2).

 .. mujoco-include:: mj_addM

-Add inertia matrix to destination matrix.
+Add inertia matrix to destination matrix (lower triangle only).

 Destination can be sparse or dense when all int* are NULL.