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Remove use of diagnum in solver

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PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
This commit is contained in:
Yuval Tassa
2025-05-15 00:38:33 -07:00
committed by Copybara-Service
parent dc4968506b
commit e8c566bee1
7 changed files with 0 additions and 34 deletions
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src/engine/engine_solver.c
-3
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@@ -786,7 +786,6 @@ struct _mjCGContext {
// inertia
const int* M_rownnz;
const int* M_rowadr;
const int* M_diagnum;
const int* M_colind;
const mjtNum* M;
const mjtNum* qLD;
@@ -888,7 +887,6 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
// inertia
ctx->M_rownnz = d->M_rownnz;
ctx->M_rowadr = d->M_rowadr;
ctx->M_diagnum = m->dof_simplenum;
ctx->M_colind = d->M_colind;
ctx->M = d->M;
ctx->qLD = d->qLD;
@@ -937,7 +935,6 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
// inertia
ctx->M_rownnz = d->iM_rownnz + idofadr;
ctx->M_rowadr = d->iM_rowadr + idofadr;
ctx->M_diagnum = d->iM_diagnum + idofadr;
ctx->M_colind = d->iM_colind;
ctx->M = d->iM;
ctx->qLD = d->iLD;