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
@@ -133,7 +133,7 @@ TEST_F(CoreConstraintTest, WeldRotJacobian) {

  // rotational Jacobian difference
  mj_jacDifPair(model, data, NULL, 2, 1, point, point,
-                NULL, NULL, NULL, jac0, jac1, jacdif);
+                NULL, NULL, NULL, jac0, jac1, jacdif, mj_isSparse(model));

  // formula: 0.5 * neg(quat2) * (jac1-jac2) * quat1
  mjtNum axis[3], quat3[4], quat4[4];