Add mjData.L, sparse Cholesky factor of Newton solver Hessian.

PiperOrigin-RevId: 683669555 Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
2024-10-08 10:12:10 -07:00
parent 39af655c1e
commit b66da3d369
9 changed files with 99 additions and 21 deletions
@@ -1768,12 +1768,13 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
  mju_zero(d->solver_fwdinv, 2);

  // clear variable sizes
+  d->ncon = 0;
  d->ne = 0;
  d->nf = 0;
  d->nl = 0;
  d->nefc = 0;
  d->nnzJ = 0;
-  d->ncon = 0;
+  d->nnzL = 0;
  d->nisland = 0;

  // clear global properties