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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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include/mujoco/mjmodel.h
+2 -1
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@@ -701,6 +701,7 @@ 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
@@ -1009,7 +1010,7 @@ 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)