Move ntree to mjModel allocator sizes

PiperOrigin-RevId: 795855203 Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
2025-08-16 09:15:52 -07:00
parent 1447711037
commit c0096b51a4
9 changed files with 48 additions and 20 deletions
@@ -964,6 +964,7 @@ struct mjModel_ {
  int nbvhdynamic;                // number of dynamic bounding volumes (aabb stored in mjData)
  int noct;                       // number of total octree cells in all meshes
  int njnt;                       // number of joints
+  int ntree;                      // number of kinematic trees under world body
  int nM;                         // number of non-zeros in sparse inertia matrix
  int nB;                         // number of non-zeros in sparse body-dof matrix
  int nC;                         // number of non-zeros in sparse reduced dof-dof matrix
@@ -1032,7 +1033,6 @@ struct mjModel_ {
  // sizes set after mjModel construction
  int nnames_map;                 // number of slots in the names hash map
  int nJmom;                      // number of non-zeros in sparse actuator_moment matrix
-  int ntree;                      // number of kinematic trees under world body
  int ngravcomp;                  // number of bodies with nonzero gravcomp
  int nemax;                      // number of potential equality-constraint rows
  int njmax;                      // number of available rows in constraint Jacobian (legacy)