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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/user/user_model.h
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@@ -99,6 +99,7 @@ class mjCModel_ : public mjsElement {
int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertex texture coordinates in all flexes
int nJfe; // number of non-zeros in sparse flex constraint Jacobian
int nmeshvert; // number of vertices in all meshes
int nmeshnormal; // number of normals in all meshes
int nmeshtexcoord; // number of texture coordinates in all meshes