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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_print.c
+5 -9
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@@ -1280,15 +1280,11 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printArray2d("FLEXVERT_XPOS", m->nflexvert, 3, d->flexvert_xpos, fp, float_format);
printArray2d("FLEXELEM_AABB", m->nflexelem, 6, d->flexelem_aabb, fp, float_format);
if (!mj_isSparse(m)) {
printArray2d("FLEXEDGE_J", m->nflexedge, m->nv, d->flexedge_J, fp, float_format);
} else {
mj_printSparsity("FLEXEDGE_J: flex edge connectivity", m->nflexedge, m->nv,
m->flexedge_J_rowadr, NULL, m->flexedge_J_rownnz, NULL, m->flexedge_J_colind,
fp);
printSparse("FLEXEDGE_J", d->flexedge_J, m->nflexedge, m->flexedge_J_rownnz,
m->flexedge_J_rowadr, m->flexedge_J_colind, fp, float_format);
}
mj_printSparsity("FLEXEDGE_J: flex edge connectivity", m->nflexedge, m->nv,
m->flexedge_J_rowadr, NULL, m->flexedge_J_rownnz, NULL, m->flexedge_J_colind,
fp);
printSparse("FLEXEDGE_J", d->flexedge_J, m->nflexedge, m->flexedge_J_rownnz,
m->flexedge_J_rowadr, m->flexedge_J_colind, fp, float_format);
printArray2d("FLEXEDGE_LENGTH", m->nflexedge, 1, d->flexedge_length, fp, float_format);
printArray2d("TEN_LENGTH", m->ntendon, 1, d->ten_length, fp, float_format);