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Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.

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PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
This commit is contained in:
Yuval Tassa
2024-10-14 09:06:14 -07:00
committed by Copybara-Service
parent 7ec94f46d4
commit ee7b994021
10 changed files with 4 additions and 98 deletions
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src/engine/engine_core_constraint.c
+1 -1
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@@ -1917,7 +1917,7 @@ static int mj_nc(const mjModel* m, mjData* d, int* nnz) {
// driver: call all functions above
void mj_makeConstraint(const mjModel* m, mjData* d) {
// clear sizes
d->ne = d->nf = d->nl = d->nefc = d->nnzJ = d->nnzL = 0;
d->ne = d->nf = d->nl = d->nefc = d->nnzJ = 0;
// disabled or Jacobian not allocated: return
if (mjDISABLED(mjDSBL_CONSTRAINT)) {