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
src/engine/engine_print.c
+3 -5
View File
@@ -1284,12 +1284,10 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printArray2d("FLEXEDGE_J", m->nflexedge, m->nv, d->flexedge_J, fp, float_format);
} else {
mj_printSparsity("FLEXEDGE_J: flex edge connectivity", m->nflexedge, m->nv,
d->flexedge_J_rowadr, NULL, d->flexedge_J_rownnz, NULL, d->flexedge_J_colind,
m->flexedge_J_rowadr, NULL, m->flexedge_J_rownnz, NULL, m->flexedge_J_colind,
fp);
printArray2dInt("FLEXEDGE_J_ROWNNZ", m->nflexedge, 1, d->flexedge_J_rownnz, fp);
printArray2dInt("FLEXEDGE_J_ROWADR", m->nflexedge, 1, d->flexedge_J_rowadr, fp);
printSparse("FLEXEDGE_J", d->flexedge_J, m->nflexedge, d->flexedge_J_rownnz,
d->flexedge_J_rowadr, d->flexedge_J_colind, fp, float_format);
printSparse("FLEXEDGE_J", d->flexedge_J, m->nflexedge, m->flexedge_J_rownnz,
m->flexedge_J_rowadr, m->flexedge_J_colind, fp, float_format);
}
printArray2d("FLEXEDGE_LENGTH", m->nflexedge, 1, d->flexedge_length, fp, float_format);