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
@@ -669,9 +669,6 @@ void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
  sim->ui0.sect[SECT_WATCH].item[2].multi.nelem = 1;
  mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid field");

-  // prepare symbols needed by xmacro
-  MJDATA_POINTERS_PREAMBLE(m);
-
  // find specified field in mjData arrays, update value
  #define X(TYPE, NAME, NR, NC)                                                                  \
    if (!mju::strcmp_arr(#NAME, sim->field) &&                                                   \