Add constraint island discovery

PiperOrigin-RevId: 557067599 Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:29:26 -07:00
parent e4dddea42a
commit 3e034e38b2
40 changed files with 1557 additions and 468 deletions
@@ -343,6 +343,9 @@ MJAPI void mj_collision(const mjModel* m, mjData* d);
 // Construct constraints.
 MJAPI void mj_makeConstraint(const mjModel* m, mjData* d);

+// Find constraint islands.
+MJAPI void mj_island(const mjModel* m, mjData* d);
+
 // Compute inverse constraint inertia efc_AR.
 MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);