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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_derivative.c
+3 -7
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@@ -1495,13 +1495,9 @@ void mjd_passive_vel(const mjModel* m, mjData* d) {
continue;
}
// add sparse or dense
if (mj_isSparse(m)) {
addJTBJSparse(m, d, d->flexedge_J, &B, 1, e,
m->flexedge_J_rownnz, m->flexedge_J_rowadr, m->flexedge_J_colind);
} else {
addJTBJ(m, d, d->flexedge_J+e*nv, &B, 1);
}
// always sparse
addJTBJSparse(m, d, d->flexedge_J, &B, 1, e,
m->flexedge_J_rownnz, m->flexedge_J_rowadr, m->flexedge_J_colind);
}
}