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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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wasm/codegen/generated/bindings.cc
+9 -2
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@@ -3579,6 +3579,12 @@ struct MjModel {
void set_nflextexcoord(int value) {
ptr_->nflextexcoord = value;
}
int nJfe() const {
return ptr_->nJfe;
}
void set_nJfe(int value) {
ptr_->nJfe = value;
}
int nmesh() const {
return ptr_->nmesh;
}
@@ -4558,7 +4564,7 @@ struct MjModel {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_J_rowadr));
}
emscripten::val flexedge_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * ptr_->nv, ptr_->flexedge_J_colind));
return emscripten::val(emscripten::typed_memory_view(ptr_->nJfe, ptr_->flexedge_J_colind));
}
emscripten::val flex_rgba() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 4, ptr_->flex_rgba));
@@ -6295,7 +6301,7 @@ struct MjData {
return emscripten::val(emscripten::typed_memory_view(model->nflexelem * 6, ptr_->flexelem_aabb));
}
emscripten::val flexedge_J() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge * model->nv, ptr_->flexedge_J));
return emscripten::val(emscripten::typed_memory_view(model->nJfe, ptr_->flexedge_J));
}
emscripten::val flexedge_length() const {
return emscripten::val(emscripten::typed_memory_view(model->nflexedge, ptr_->flexedge_length));
@@ -11470,6 +11476,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("nB", &MjModel::nB, &MjModel::set_nB, reference())
.property("nC", &MjModel::nC, &MjModel::set_nC, reference())
.property("nD", &MjModel::nD, &MjModel::set_nD, reference())
.property("nJfe", &MjModel::nJfe, &MjModel::set_nJfe, reference())
.property("nJmom", &MjModel::nJmom, &MjModel::set_nJmom, reference())
.property("nM", &MjModel::nM, &MjModel::set_nM, reference())
.property("na", &MjModel::na, &MjModel::set_na, reference())