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Reduce flexedge_J size from nflexedge x nv to the effective sparse size.

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PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
This commit is contained in:
Alessio Quaglino
2026-01-14 11:17:47 -08:00
committed by Copybara-Service
parent cbc1136502
commit e56b31e98f
22 changed files with 123 additions and 117 deletions
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doc/includes/references.h
+3 -2
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@@ -272,7 +272,7 @@ struct mjData_ {
// computed by mj_fwdPosition/mj_flex
mjtNum* flexvert_xpos; // Cartesian flex vertex positions (nflexvert x 3)
mjtNum* flexelem_aabb; // flex element bounding boxes (center, size) (nflexelem x 6)
mjtNum* flexedge_J; // flex edge Jacobian (nflexedge x nv)
mjtNum* flexedge_J; // flex edge Jacobian (nJfe x 1)
mjtNum* flexedge_length; // flex edge lengths (nflexedge x 1)
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
@@ -1033,6 +1033,7 @@ struct mjModel_ {
int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertices with texture coordinates
int nJfe; // number of non-zeros in sparse flexedge Jacobian matrix
int nmesh; // number of meshes
int nmeshvert; // number of vertices in all meshes
int nmeshnormal; // number of normals in all meshes
@@ -1341,7 +1342,7 @@ struct mjModel_ {
int* flex_bvhnum; // number of bounding volumes (nflex x 1)
int* flexedge_J_rownnz; // number of non-zeros in Jacobian row (nflexedge x 1)
int* flexedge_J_rowadr; // row start address in colind array (nflexedge x 1)
int* flexedge_J_colind; // column indices in sparse Jacobian (nflexedge x nv)
int* flexedge_J_colind; // column indices in sparse Jacobian (nJfe x 1)
float* flex_rgba; // rgba when material is omitted (nflex x 4)
float* flex_texcoord; // vertex texture coordinates (nflextexcoord x 2)