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

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PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
This commit is contained in:
Yuval Tassa
2024-10-08 10:12:10 -07:00
committed by Copybara-Service
parent 39af655c1e
commit b66da3d369
9 changed files with 99 additions and 21 deletions
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unity/Runtime/Bindings/MjBindings.cs
+7 -1
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@@ -4841,12 +4841,13 @@ public unsafe struct mjData_ {
public mjTimerStat_ timer12;
public mjTimerStat_ timer13;
public mjTimerStat_ timer14;
public int ncon;
public int ne;
public int nf;
public int nl;
public int nefc;
public int nnzJ;
public int ncon;
public int nnzL;
public int nisland;
public double time;
public fixed double energy[2];
@@ -4984,6 +4985,11 @@ public unsafe struct mjData_ {
public int* efc_AR_rowadr;
public int* efc_AR_colind;
public double* efc_AR;
public int* L_rownnz;
public int* L_rowadr;
public int* L_colind;
public double* L;
public double* Lcone;
public double* efc_vel;
public double* efc_aref;
public double* efc_b;