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
@@ -1706,6 +1706,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
         ),
         doc='Construct constraints.',
     )),
+    ('mj_island',
+     FunctionDecl(
+         name='mj_island',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+         ),
+         doc='Find constraint islands.',
+     )),
    ('mj_projectConstraint',
     FunctionDecl(
         name='mj_projectConstraint',