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Allocate qM CSR matrix structure on mjData (currently empty).

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PiperOrigin-RevId: 733247419
Change-Id: I814e574e3161875e89433a6e03f2c9e200d8b1d6
This commit is contained in:
Yuval Tassa
2025-03-04 02:36:54 -08:00
committed by Copybara-Service
parent 8f37ae1bf2
commit c72c83aa3b
7 changed files with 60 additions and 0 deletions
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include/mujoco/mjdata.h
+4
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@@ -340,6 +340,10 @@ struct mjData_ {
int* B_rownnz; // body-dof: non-zeros in each row (nbody x 1)
int* B_rowadr; // body-dof: address of each row in B_colind (nbody x 1)
int* B_colind; // body-dof: column indices of non-zeros (nB x 1)
int* M_rownnz; // inertia: non-zeros in each row (nv x 1)
int* M_rowadr; // inertia: address of each row in M_colind (nv x 1)
int* M_colind; // inertia: column indices of non-zeros (nM x 1)
int* mapM2M; // index mapping from M (legacy) to M (CSR) (nM x 1)
int* C_rownnz; // reduced dof-dof: non-zeros in each row (nv x 1)
int* C_rowadr; // reduced dof-dof: address of each row in C_colind (nv x 1)
int* C_colind; // reduced dof-dof: column indices of non-zeros (nC x 1)