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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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src/engine/engine_core_util.c
+1 -2
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@@ -438,9 +438,8 @@ void mj_jacSparseSimple(const mjModel* m, const mjData* d,
int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr) {
mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr, int issparse) {
int issimple = (m->body_simple[b1] && m->body_simple[b2]);
int issparse = mj_isSparse(m);
int NV = m->nv;
// skip if no DOFs