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

PiperOrigin-RevId: 856290141 Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
2026-01-14 11:17:47 -08:00
parent cbc1136502
commit e56b31e98f
22 changed files with 123 additions and 117 deletions
@@ -89,7 +89,7 @@ void mj_jacSparseSimple(const mjModel* m, const mjData* d,
 MJAPI 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);

 // dense or sparse weighted sum of multiple body Jacobians at same point
 int mj_jacSum(const mjModel* m, mjData* d, int* chain,