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Improve nJmom by counting number of dofs for slidercrank and site transmissions

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PiperOrigin-RevId: 875233737
Change-Id: I2cf3afad7e29e176a4f5a917dd35cfad99b2b0a3
This commit is contained in:
Taylor Howell
2026-02-25 10:40:52 -08:00
committed by Copybara-Service
parent b907ffedaa
commit 53fadd9d63
5 changed files with 51 additions and 34 deletions
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src/engine/engine_core_util.c
+9 -5
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@@ -52,7 +52,7 @@ int mj_isPyramidal(const mjModel* m) {
//-------------------------- sparse chains ---------------------------------------------------------
// merge dof chains for two bodies
int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2) {
int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2, int flg_skipcommon) {
int da1, da2, NV = 0;
// skip fixed bodies
@@ -70,11 +70,15 @@ int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2) {
// merge chains
while (da1 >= 0 || da2 >= 0) {
chain[NV] = mjMAX(da1, da2);
if (da1 == chain[NV]) {
int da = mjMAX(da1, da2);
if (flg_skipcommon && da1 == da && da2 == da) {
break;
}
chain[NV] = da;
if (da1 == da) {
da1 = m->dof_parentid[da1];
}
if (da2 == chain[NV]) {
if (da2 == da) {
da2 = m->dof_parentid[da2];
}
NV++;
@@ -443,7 +447,7 @@ int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
if (issimple) {
NV = mj_mergeChainSimple(m, chain, b1, b2);
} else {
NV = mj_mergeChain(m, chain, b1, b2);
NV = mj_mergeChain(m, chain, b1, b2, 0);
}
}