Benchmark and expose disjoint-set islands

Signed-off-by: teerthsharma <teerths57@gmail.com>
2026-07-18 16:59:24 +05:30
parent ba2782140f
commit 5d91d878c2
5 changed files with 772 additions and 36 deletions
@@ -23,6 +23,12 @@
 extern "C" {
 #endif

+MJAPI int _mjPRIVATE_dsuFind(int* parent, int tree);
+MJAPI void _mjPRIVATE_dsuInit(int* parent, int ntree);
+MJAPI void _mjPRIVATE_dsuUnion(int* parent, int tree1, int tree2);
+MJAPI int _mjPRIVATE_dsuAssign(int* island, int* parent,
+                               const int* tree_dofnum, int ntree, int* nidof);
+

 // find disjoint subgraphs ("islands") given sparse symmetric adjacency matrix
 MJAPI int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, const int* colind,