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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/xml/xml_native_reader.cc
+3 -2
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@@ -102,10 +102,10 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"integrator", "collision", "cone", "jacobian",
"solver", "iterations", "noslip_iterations", "mpr_iterations"},
{"<"},
{"flag", "?", "18", "constraint", "equality", "frictionloss", "limit", "contact",
{"flag", "?", "19", "constraint", "equality", "frictionloss", "limit", "contact",
"passive", "gravity", "clampctrl", "warmstart",
"filterparent", "actuation", "refsafe", "sensor",
"override", "energy", "fwdinv", "sensornoise", "multiccd"},
"override", "energy", "fwdinv", "sensornoise", "multiccd", "island"},
{">"},
{"size", "*", "14", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey",
@@ -999,6 +999,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
READENBL("fwdinv", mjENBL_FWDINV)
READENBL("sensornoise", mjENBL_SENSORNOISE)
READENBL("multiccd", mjENBL_MULTICCD)
READENBL("island", mjENBL_ISLAND)
#undef READENBL
}
}