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Use qLDiagInv instead of qLD in engine_vis_interact.c

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PiperOrigin-RevId: 734399015
Change-Id: I97c80a8b25dbd40e86560c328cc786a0bed6a2d1
This commit is contained in:
Yuval Tassa
2025-03-06 21:14:38 -08:00
committed by Copybara-Service
parent 109a223cf6
commit a816ca6dd5
1 changed files with 1 additions and 2 deletions
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src/engine/engine_vis_interact.c
+1 -2
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@@ -556,8 +556,7 @@ void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPertur
// compute average spatial inertia at selection point // compute average spatial inertia at selection point
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1; sqrtInvD[i] = mju_sqrt(d->qLDiagInv[i]);
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
} }
mj_jac(m, d, jac, NULL, selpos, sel); mj_jac(m, d, jac, NULL, selpos, sel);
mj_solveM2(m, d, jacM2, jac, sqrtInvD, 3); mj_solveM2(m, d, jacM2, jac, sqrtInvD, 3);