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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_passive.c
+3 -3
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@@ -414,9 +414,9 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
// transform to joint torque, add to qfrc_{spring, damper}: dense or sparse
if (issparse) {
int end = d->flexedge_J_rowadr[e] + d->flexedge_J_rownnz[e];
for (int j=d->flexedge_J_rowadr[e]; j < end; j++) {
int colind = d->flexedge_J_colind[j];
int end = m->flexedge_J_rowadr[e] + m->flexedge_J_rownnz[e];
for (int j=m->flexedge_J_rowadr[e]; j < end; j++) {
int colind = m->flexedge_J_colind[j];
mjtNum J = d->flexedge_J[j];
d->qfrc_spring[colind] += J * frc_spring;
d->qfrc_damper[colind] += J * frc_damper;