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Add flex arrays to CompareModel check.

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Due to a bug, all flex mjModel fields were previously ignored.

PiperOrigin-RevId: 912546202
Change-Id: Ica95ecfcbbe366fd81de6e8f7d83ed57a7d23033
This commit is contained in:
Alessio Quaglino
2026-05-08 08:47:10 -07:00
committed by Copybara-Service
parent 8cef5bb978
commit fa912dffa0
7 changed files with 158 additions and 117 deletions
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src/engine/engine_setconst.c
+2
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@@ -447,6 +447,8 @@ static void makeFlexSparse(mjModel* m, mjData* d) {
mju_zeroInt(m->flex_vertedge, 2 * m->nflexedge);
mju_zeroInt(m->flex_vertedge, 2 * m->nflexedge);
mju_zero(m->flex_vertmetric, 4 * m->nflexvert);
mju_zeroInt(m->flexedge_J_colind, m->nJfe);
mju_zeroInt(m->flexvert_J_colind, 2 * m->nJfv);
int current_adj_offset = 0;
// compute lengths and Jacobians of edges