Skip shared dofs for contact constraints

PiperOrigin-RevId: 884455239 Change-Id: I7ee36a13c28be88e12380b4790f150ad62f268c1
2026-03-16 08:36:14 -07:00
parent eca5758bf9
commit bb38a34869
8 changed files with 154 additions and 79 deletions
@@ -434,7 +434,7 @@ static void makeFlexSparse(mjModel* m, mjData* d) {

      // get sparsity
      int NV = mj_jacDifPair(m, d, chain, b1, b2, dummy_pos, dummy_pos, NULL,
-                             NULL, NULL, NULL, NULL, NULL, /*issparse=*/1);
+                             NULL, NULL, NULL, NULL, NULL, /*issparse=*/1, /*skipcommon=*/0);

      // copy sparsity info
      rownnz[ebase + e] = NV;