chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Move flexedge sparse Jacobian indices to mjModel.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjxmacro.h
+3 -3
View File
@@ -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 ) \