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Rename C sparse structure to M in mjdata, improve docstrings.

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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
This commit is contained in:
Yuval Tassa
2025-05-14 05:25:11 -07:00
committed by Copybara-Service
parent 4ba04586ae
commit dd28b887d4
21 changed files with 128 additions and 128 deletions
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src/engine/engine_solver.c
+3 -3
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@@ -886,10 +886,10 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
ctx->qacc = d->qacc;
// inertia
ctx->M_rownnz = d->C_rownnz;
ctx->M_rowadr = d->C_rowadr;
ctx->M_rownnz = d->M_rownnz;
ctx->M_rowadr = d->M_rowadr;
ctx->M_diagnum = m->dof_simplenum;
ctx->M_colind = d->C_colind;
ctx->M_colind = d->M_colind;
ctx->M = d->M;
ctx->qLD = d->qLD;
ctx->qLDiagInv = d->qLDiagInv;