Sparse ten_J and ten_J_colind memory

PiperOrigin-RevId: 868800229 Change-Id: Id83f9fd40dd9bece06fd99753e4202eea17ca884
2026-02-11 12:44:56 -08:00
parent 94e834bf4f
commit d011285380
21 changed files with 118 additions and 43 deletions
@@ -754,6 +754,7 @@ struct mjModel_ {
  // sizes set after mjModel construction
  mjtSize nnames_map;             // number of slots in the names hash map
  mjtSize nJmom;                  // number of non-zeros in sparse actuator_moment matrix
+  mjtSize nJten;                  // number of non-zeros in sparse ten_J matrix
  mjtSize ngravcomp;              // number of bodies with nonzero gravcomp
  mjtSize nemax;                  // number of potential equality-constraint rows
  mjtSize njmax;                  // number of available rows in constraint Jacobian (legacy)