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Optimize and refactor combineSparse and combineSparseCount.

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PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
This commit is contained in:
Kyle Bayes
2023-08-18 06:13:20 -07:00
committed by Copybara-Service
parent b1ecc943bb
commit ba12a1354b
7 changed files with 49 additions and 45 deletions
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src/engine/engine_support.c
+1 -1
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@@ -1053,7 +1053,7 @@ void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
// add to destination
for (int i=0; i < nv; i++) {
rownnz[i] = mju_combineSparse(dst + rowadr[i], M + M_rowadr[i], nv, 1, 1,
rownnz[i] = mju_combineSparse(dst + rowadr[i], M + M_rowadr[i], 1, 1,
rownnz[i], M_rownnz[i], colind + rowadr[i],
M_colind + M_rowadr[i], sparse_buf, buf_ind);
}