Move flexedge sparse Jacobian indices to mjModel.

PiperOrigin-RevId: 855718305 Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
2026-01-13 07:32:31 -08:00
parent 09a6fb7d4d
commit a49576e469
17 changed files with 70 additions and 75 deletions
@@ -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)