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Move flexedge sparse Jacobian indices to mjModel.

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PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
This commit is contained in:
Alessio Quaglino
2026-01-13 07:32:31 -08:00
committed by Copybara-Service
parent 09a6fb7d4d
commit a49576e469
17 changed files with 70 additions and 75 deletions
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include/mujoco/mjdata.h
-3
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@@ -306,9 +306,6 @@ struct mjData_ {
// computed by mj_fwdPosition/mj_flex
mjtNum* flexvert_xpos; // Cartesian flex vertex positions (nflexvert x 3)
mjtNum* flexelem_aabb; // flex element bounding boxes (center, size) (nflexelem x 6)
int* flexedge_J_rownnz; // number of non-zeros in Jacobian row (nflexedge x 1)
int* flexedge_J_rowadr; // row start address in colind array (nflexedge x 1)
int* flexedge_J_colind; // column indices in sparse Jacobian (nflexedge x nv)
mjtNum* flexedge_J; // flex edge Jacobian (nflexedge x nv)
mjtNum* flexedge_length; // flex edge lengths (nflexedge x 1)
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
include/mujoco/mjmodel.h
+4 -1
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@@ -1001,12 +1001,15 @@ struct mjModel_ {
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
mjtByte* flex_edgeequality; // is edge equality constraint defined (nflex x 1)
mjtByte* flex_rigid; // are all vertices in the same body (nflex x 1)
mjtByte* flex_rigid; // are all vertices in the same body (nflex x 1)
mjtByte* flexedge_rigid; // are both edge vertices in same body (nflexedge x 1)
mjtByte* flex_centered; // are all vertex coordinates (0,0,0) (nflex x 1)
mjtByte* flex_flatskin; // render flex skin with flat shading (nflex x 1)
int* flex_bvhadr; // address of bvh root; -1: no bvh (nflex x 1)
int* flex_bvhnum; // number of bounding volumes (nflex x 1)
int* flexedge_J_rownnz; // number of non-zeros in Jacobian row (nflexedge x 1)
int* flexedge_J_rowadr; // row start address in colind array (nflexedge x 1)
int* flexedge_J_colind; // column indices in sparse Jacobian (nflexedge x nv)
float* flex_rgba; // rgba when material is omitted (nflex x 4)
float* flex_texcoord; // vertex texture coordinates (nflextexcoord x 2)
include/mujoco/mjxmacro.h
+3 -3
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@@ -397,6 +397,9 @@
X ( mjtByte, flex_flatskin, nflex, 1 ) \
X ( int, flex_bvhadr, nflex, 1 ) \
X ( int, flex_bvhnum, nflex, 1 ) \
X ( int, flexedge_J_rownnz, nflexedge, 1 ) \
X ( int, flexedge_J_rowadr, nflexedge, 1 ) \
X ( int, flexedge_J_colind, nflexedge, MJ_M(nv) ) \
X ( float, flex_rgba, nflex, 4 ) \
X ( float, flex_texcoord, nflextexcoord, 2 )
@@ -730,9 +733,6 @@
X ( mjtNum, cinert, nbody, 10 ) \
X ( mjtNum, flexvert_xpos, nflexvert, 3 ) \
X ( mjtNum, flexelem_aabb, nflexelem, 6 ) \
X ( int, flexedge_J_rownnz, nflexedge, 1 ) \
X ( int, flexedge_J_rowadr, nflexedge, 1 ) \
X ( int, flexedge_J_colind, nflexedge, MJ_M(nv) ) \
X ( mjtNum, flexedge_J, nflexedge, MJ_M(nv) ) \
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \