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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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src/engine/engine_core_smooth.c
+2 -2
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@@ -536,7 +536,7 @@ void mj_updateDynamicBVH(const mjModel* m, mjData* d, int bvhadr, int bvhnum) {
// compute flex-related quantities
void mj_flex(const mjModel* m, mjData* d) {
int nv = m->nv, issparse = mj_isSparse(m);
int* rowadr = d->flexedge_J_rowadr, *rownnz = d->flexedge_J_rownnz;
int* rowadr = m->flexedge_J_rowadr, *rownnz = m->flexedge_J_rownnz;
mjtNum* J = d->flexedge_J;
// skip if no flexes
@@ -720,7 +720,7 @@ void mj_flex(const mjModel* m, mjData* d) {
// copy sparsity info
rownnz[ebase+e] = NV;
mju_copyInt(d->flexedge_J_colind + rowadr[ebase+e], chain, NV);
mju_copyInt(m->flexedge_J_colind + rowadr[ebase+e], chain, NV);
}
// dense edge Jacobian