Condensing a sparse array in Javascript?

I have an array of elements where the entries are sparse. How can I easily condense the sparse array into a dense array so that I don\’t have to keep checking for null and undefined values every time I loop through the data?

Here is some example data:

var sparse = [];
sparse[1] = undefined;
sparse[5] = 3;
sparse[10] = null;

var dense = sparseToDenseArray(sparse);
// dense should be [3]

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