Remove unnecessary diagnum argument in mj_solveLD and mj_factorI

PiperOrigin-RevId: 758669364 Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
2025-05-14 07:12:19 -07:00
parent b0c36c6b33
commit d8bebdc675
9 changed files with 33 additions and 38 deletions
@@ -64,7 +64,7 @@ static void BM_solveLD(benchmark::State& state, bool featherstone, bool coil) {
        mj_solveLD_legacy(m, res, 1, LDlegacy, d->qLDiagInv);
      } else {
        mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                   d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
+                   d->M_rownnz, d->M_rowadr, d->M_colind);
      }
    }
  }