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Fix island graph construction for multi-tree constraints, fixes #3073

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Replace dynamically-sized edge list with a dense ntree×ntree adjacency matrix for deduplication and a flat CSR representation.

PiperOrigin-RevId: 868728432
Change-Id: Iebe97a0870740e5465549b967bbde0c81e658269
This commit is contained in:
Yuval Tassa
2026-02-11 10:04:18 -08:00
committed by Copybara-Service
parent cc5d544d15
commit 2b5afce4aa
2 changed files with 101 additions and 92 deletions
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test/engine/engine_island_test.cc
+47
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@@ -555,5 +555,52 @@ TEST_F(IslandTest, IslandEfcElliptic) {
mj_deleteModel(model);
}
TEST_F(IslandTest, EqualityConstraintOfTendons) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body name="b1">
<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
<joint name="j1" type="slide" axis="1 0 0"/>
</body>
<body name="b2">
<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
<joint name="j2" type="slide" axis="1 0 0"/>
</body>
<body name="b3">
<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
<joint name="j3" type="slide" axis="1 0 0"/>
</body>
<body name="b4">
<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
<joint name="j4" type="slide" axis="1 0 0"/>
</body>
</worldbody>
<tendon>
<fixed name="t12">
<joint joint="j1" coef="1"/>
<joint joint="j2" coef="1"/>
</fixed>
<fixed name="t34">
<joint joint="j3" coef="1"/>
<joint joint="j4" coef="1"/>
</fixed>
</tendon>
<equality>
<tendon name="eq" tendon1="t12" tendon2="t34"/>
</equality>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
mj_forward(model, data);
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco