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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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unity/Runtime/Bindings/MjBindings.cs
+34 -14
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@@ -159,7 +159,8 @@ public enum mjtEnableBit : int{
mjENBL_FWDINV = 4,
mjENBL_SENSORNOISE = 8,
mjENBL_MULTICCD = 16,
mjNENABLE = 5,
mjENBL_ISLAND = 32,
mjNENABLE = 6,
}
public enum mjtJoint : int{
mjJNT_FREE = 0,
@@ -455,7 +456,8 @@ public enum mjtLabel : int{
mjLABEL_SELPNT = 12,
mjLABEL_CONTACTPOINT = 13,
mjLABEL_CONTACTFORCE = 14,
mjNLABEL = 15,
mjLABEL_ISLAND = 15,
mjNLABEL = 16,
}
public enum mjtFrame : int{
mjFRAME_NONE = 0,
@@ -484,17 +486,18 @@ public enum mjtVisFlag : int{
mjVIS_PERTFORCE = 12,
mjVIS_PERTOBJ = 13,
mjVIS_CONTACTPOINT = 14,
mjVIS_CONTACTFORCE = 15,
mjVIS_CONTACTSPLIT = 16,
mjVIS_TRANSPARENT = 17,
mjVIS_AUTOCONNECT = 18,
mjVIS_COM = 19,
mjVIS_SELECT = 20,
mjVIS_STATIC = 21,
mjVIS_SKIN = 22,
mjVIS_MIDPHASE = 23,
mjVIS_MESHBVH = 24,
mjNVISFLAG = 25,
mjVIS_ISLAND = 15,
mjVIS_CONTACTFORCE = 16,
mjVIS_CONTACTSPLIT = 17,
mjVIS_TRANSPARENT = 18,
mjVIS_AUTOCONNECT = 19,
mjVIS_COM = 20,
mjVIS_SELECT = 21,
mjVIS_STATIC = 22,
mjVIS_SKIN = 23,
mjVIS_MIDPHASE = 24,
mjVIS_MESHBVH = 25,
mjNVISFLAG = 26,
}
public enum mjtRndFlag : int{
mjRND_SHADOW = 0,
@@ -1604,6 +1607,7 @@ public unsafe struct mjData_ {
public int nefc;
public int nnzJ;
public int ncon;
public int nisland;
public double time;
public fixed double energy[2];
public void* buffer;
@@ -1706,6 +1710,12 @@ public unsafe struct mjData_ {
public double* efc_KBIP;
public double* efc_D;
public double* efc_R;
public int* island_dofadr;
public int* island_efcadr;
public int* dof_island;
public int* dof_islandnext;
public int* efc_island;
public int* efc_islandnext;
public int* efc_AR_rownnz;
public int* efc_AR_rowadr;
public int* efc_AR_colind;
@@ -1940,6 +1950,7 @@ public unsafe struct mjModel_ {
public int nM;
public int nD;
public int nB;
public int ntree;
public int nemax;
public int njmax;
public int nconmax;
@@ -1962,6 +1973,7 @@ public unsafe struct mjModel_ {
public int* body_jntadr;
public int* body_dofnum;
public int* body_dofadr;
public int* body_treeid;
public int* body_geomnum;
public int* body_geomadr;
public byte* body_simple;
@@ -2002,6 +2014,7 @@ public unsafe struct mjModel_ {
public int* dof_bodyid;
public int* dof_jntid;
public int* dof_parentid;
public int* dof_treeid;
public int* dof_Madr;
public int* dof_simplenum;
public double* dof_solref;
@@ -2588,7 +2601,7 @@ public unsafe struct mjvOption_ {
public fixed byte tendongroup[6];
public fixed byte actuatorgroup[6];
public fixed byte skingroup[6];
public fixed byte flags[25];
public fixed byte flags[26];
public int bvh_depth;
}
@@ -2911,6 +2924,7 @@ public unsafe struct data {
public mjWarningStat_ warning7;
public int nefc;
public int ncon;
public int nisland;
public double time;
public double* act;
public double* ctrl;
@@ -2937,6 +2951,9 @@ public unsafe struct data {
public int* wrap_obj;
public double* wrap_xpos;
public byte* bvh_active;
public int* island_dofadr;
public int* dof_island;
public int* efc_island;
public mjContact_* contact;
public double* efc_force;
}
@@ -3187,6 +3204,9 @@ public static unsafe extern void mj_collision(mjModel_* m, mjData_* d);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_makeConstraint(mjModel_* m, mjData_* d);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_island(mjModel_* m, mjData_* d);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_projectConstraint(mjModel_* m, mjData_* d);