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
@@ -47,7 +47,8 @@ const char* mjLABELSTRING[mjNLABEL] = {
  "Selection",
  "SelPoint",
  "Contact",
-  "ContactForce"
+  "ContactForce",
+  "Island"
 };


@@ -81,6 +82,7 @@ const char* mjVISSTRING[mjNVISFLAG][3] = {
  {"Pertur&b Force",  "0", "B"},
  {"Perturb &Object", "1", "O"},
  {"&Contact Point",  "0", "C"},
+  {"Island",          "1", ""},   // TODO(b/295296178): turn off after islands are on by default.
  {"Contact &Force",  "0", "F"},
  {"Contact S&plit",  "0", "P"},
  {"&Transparent",    "0", "T"},