Add mj_constraintUpdate_island.

PiperOrigin-RevId: 562581620 Change-Id: If156a02873168127e2c5f2f377532fd45f7eec1c
2023-09-04 10:32:45 -07:00
parent b7686440d1
commit 600c12533d
3 changed files with 155 additions and 22 deletions
@@ -116,6 +116,10 @@ MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
 MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
                               mjtNum cost[1], int flg_coneHessian);

+// compute efc_state, efc_force, qfrc_constraint for one island
+MJAPI void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
+                                      mjtNum cost[1], int flg_coneHessian, int island);
+
 #ifdef __cplusplus
 }
 #endif