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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_derivative.c
+1 -1
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@@ -1498,7 +1498,7 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
// add sparse or dense
if (mj_isSparse(m)) {
addJTBJSparse(m, d, d->flexedge_J, &B, 1, e,
d->flexedge_J_rownnz, d->flexedge_J_rowadr, d->flexedge_J_colind);
m->flexedge_J_rownnz, m->flexedge_J_rowadr, m->flexedge_J_colind);
} else {
addJTBJ(m, d, d->flexedge_J+e*nv, &B, 1);
}