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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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src/engine/engine_print.c
+42 -2
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@@ -507,10 +507,11 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
fprintf(fp, " %s\n", m->names + m->name_tendonadr[i]);
object_class = &m->ntendon;
MJMODEL_POINTERS
fprintf(fp, " path \n");
fprintf(fp, " path\n");
fprintf(fp, " type objid prm\n");
for (int j=0; j < m->tendon_num[i]; j++) {
int k = m->tendon_adr[i]+j;
fprintf(fp, " %d %d ", m->wrap_type[k], m->wrap_objid[k]);
fprintf(fp, " %d %d ", m->wrap_type[k], m->wrap_objid[k]);
fprintf(fp, float_format, m->wrap_prm[k]);
fprintf(fp, "\n");
}
@@ -1052,6 +1053,45 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("CFRC_INT", m->nbody, 6, d->cfrc_int, fp, float_format);
printArray("CFRC_EXT", m->nbody, 6, d->cfrc_ext, fp, float_format);
if (d->nisland) {
fprintf(fp, NAME_FORMAT, "ISLAND_DOFADR");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_dofadr[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_EFCADR");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_efcadr[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "DOF_ISLAND");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->dof_island[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "DOF_ISLANDNEXT");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->dof_islandnext[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "EFC_ISLAND");
for (int i = 0; i < d->nefc; i++) {
fprintf(fp, " %d", d->efc_island[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "EFC_ISLANDNEXT");
for (int i = 0; i < d->nefc; i++) {
fprintf(fp, " %d", d->efc_islandnext[i]);
}
fprintf(fp, "\n\n");
}
#ifdef MEMORY_SANITIZER
// restore poisoned status
__msan_copy_shadow(d->buffer, shadow, d->nbuffer);