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Refactor islands to be memory contiguous.

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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
This commit is contained in:
Yuval Tassa
2025-05-07 05:05:34 -07:00
committed by Copybara-Service
parent 449de73430
commit ecb769fc3a
30 changed files with 1742 additions and 1116 deletions
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simulate/simulate.cc
+1 -1
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@@ -328,7 +328,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
sim->figconstraint.linedata[start + 4][2*i] = i;
// y
int nefc = nisland == 1 ? d->nefc : d->island_efcnum[k];
int nefc = nisland == 1 ? d->nefc : d->island_nefc[k];
sim->figconstraint.linedata[start + 0][2*i+1] = nefc;
const mjSolverStat* stat = d->solver + k*mjNSOLVER + i;
sim->figconstraint.linedata[start + 1][2*i+1] = stat->nactive;