Compute sparse matrix sizes before making the mjModel in the compiler.

PiperOrigin-RevId: 794998215 Change-Id: Ib7d0a2479b18cc8b3168c0656d3c4be0eff43a0f
2025-08-14 05:50:29 -07:00
parent 0ba31e2c1f
commit f077fd00a9
3 changed files with 235 additions and 41 deletions
@@ -345,6 +345,7 @@ class mjCModel : public mjCModel_, private mjSpec {
  void IndexAssets(bool discard);       // convert asset names into indices
  void CheckEmptyNames();               // check empty names
  void SetSizes();                      // compute sizes
+  void ComputeSparseSizes();            // compute nM, nD, nB, nC
  void AutoSpringDamper(mjModel*);      // automatic stiffness and damping computation
  void LengthRange(mjModel*, mjData*);  // compute actuator lengthrange
  void CopyNames(mjModel*);             // copy names, compute name addresses