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
@@ -747,7 +747,6 @@ void MjDataWrapper::Serialize(std::ostream& output) const {

  // Write buffer and arena contents
  {
-    MJDATA_POINTERS_PREAMBLE((this->model_->get()))

 #define X(type, name, nr, nc)    \
  WriteBytes(output, ptr_->name, \
@@ -827,7 +826,6 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {

  // Read buffer and arena contents
  {
-    MJDATA_POINTERS_PREAMBLE((&m))

 #define X(type, name, nr, nc) \
  ReadBytes(input, d->name, sizeof(type) * (m.nr) * (nc));