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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.h
+1 -1
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@@ -36,7 +36,7 @@ MJAPI int mj_isSparse(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);
// merge dof chains for two simple bodies
int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2);