Use qLDiagInv instead of qLD in engine_vis_interact.c

PiperOrigin-RevId: 734399015 Change-Id: I97c80a8b25dbd40e86560c328cc786a0bed6a2d1
2025-03-06 21:14:38 -08:00
parent 109a223cf6
commit a816ca6dd5
1 changed files with 1 additions and 2 deletions
@@ -556,8 +556,7 @@ void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPertur

  // compute average spatial inertia at selection point
  for (int i=0; i < nv; i++) {
-    int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
-    sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
+    sqrtInvD[i] = mju_sqrt(d->qLDiagInv[i]);
  }
  mj_jac(m, d, jac, NULL, selpos, sel);
  mj_solveM2(m, d, jacM2, jac, sqrtInvD, 3);