chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Skip shared dofs for contact constraints

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_support.c
+1 -1
View File
@@ -464,7 +464,7 @@ void mj_applyFT(const mjModel* m, mjData* d,
// construct chain and sparse Jacobians
int* chain = mjSTACKALLOC(d, nv, int);
int NV = mj_bodyChain(m, body, chain);
mj_jacSparse(m, d, jacp, jacr, point, body, NV, chain);
mj_jacSparse(m, d, jacp, jacr, point, body, NV, chain, /*flg_skipcommon=*/0);
// compute J'*f and accumulate
if (force) {