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Add constraint island discovery

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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
This commit is contained in:
Yuval Tassa
2023-08-15 02:29:26 -07:00
committed by Copybara-Service
parent e4dddea42a
commit 3e034e38b2
40 changed files with 1557 additions and 468 deletions
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python/mujoco/structs.cc
+9 -2
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@@ -710,6 +710,7 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
X(nnzJ);
X(nefc);
X(ncon);
X(nisland);
X(time);
X(energy);
#undef X
@@ -734,10 +735,12 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_PRIMAL
if (this->metadata_.is_dual) {
MJDATA_ARENA_POINTERS_DUAL
}
if (this->ptr_->nisland) {
MJDATA_ARENA_POINTERS_ISLAND
}
#undef MJ_M
#define MJ_M(x) x
#undef MJ_D
@@ -799,6 +802,7 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
X(nnzJ);
X(nefc);
X(ncon);
X(nisland);
X(time);
X(energy);
#undef X
@@ -825,10 +829,12 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
MJDATA_ARENA_POINTERS_CONTACT
MJDATA_ARENA_POINTERS_PRIMAL
if (metadata.is_dual) {
MJDATA_ARENA_POINTERS_DUAL
}
if (d->nisland) {
MJDATA_ARENA_POINTERS_ISLAND
}
#undef MJ_M
#define MJ_M(x) x
#undef MJ_D
@@ -1830,6 +1836,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
MJDATA_ARENA_POINTERS_PRIMAL
MJDATA_ARENA_POINTERS_DUAL
MJDATA_ARENA_POINTERS_ISLAND
#undef MJ_M
#define MJ_M(x) (x)