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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/mjxmacro.h
+3 -2
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@@ -96,6 +96,7 @@
X( nflexshelldata ) \
X( nflexevpair ) \
X( nflextexcoord ) \
X( nJfe ) \
X( nmesh ) \
X( nmeshvert ) \
X( nmeshnormal ) \
@@ -399,7 +400,7 @@
X ( int, flex_bvhnum, nflex, 1 ) \
X ( int, flexedge_J_rownnz, nflexedge, 1 ) \
X ( int, flexedge_J_rowadr, nflexedge, 1 ) \
X ( int, flexedge_J_colind, nflexedge, MJ_M(nv) ) \
X ( int, flexedge_J_colind, nJfe, 1 ) \
X ( float, flex_rgba, nflex, 4 ) \
X ( float, flex_texcoord, nflextexcoord, 2 )
@@ -733,7 +734,7 @@
X ( mjtNum, cinert, nbody, 10 ) \
X ( mjtNum, flexvert_xpos, nflexvert, 3 ) \
X ( mjtNum, flexelem_aabb, nflexelem, 6 ) \
X ( mjtNum, flexedge_J, nflexedge, MJ_M(nv) ) \
X ( mjtNum, flexedge_J, nJfe, 1 ) \
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
X ( int, ten_wrapadr, ntendon, 1 ) \