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Skip shared dofs for contact constraints

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PiperOrigin-RevId: 884455239
Change-Id: I7ee36a13c28be88e12380b4790f150ad62f268c1
This commit is contained in:
Taylor Howell
2026-03-16 08:36:14 -07:00
committed by Copybara-Service
parent eca5758bf9
commit bb38a34869
8 changed files with 154 additions and 79 deletions
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src/engine/engine_core_util.h
+3 -2
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@@ -78,7 +78,7 @@ MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d,
// compute 3/6-by-nv sparse Jacobian of global point attached to given body
void mj_jacSparse(const mjModel* m, const mjData* d,
mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
int NV, const int* chain);
int NV, const int* chain, int flg_skipcommon);
// sparse Jacobian difference for simple body contacts
void mj_jacSparseSimple(const mjModel* m, const mjData* d,
@@ -89,7 +89,8 @@ void mj_jacSparseSimple(const mjModel* m, const mjData* d,
MJAPI int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr, int issparse);
mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr,
int issparse, int flg_skipcommon);
// dense or sparse weighted sum of multiple body Jacobians at same point
int mj_jacSum(const mjModel* m, mjData* d, int* chain,