Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

PiperOrigin-RevId: 916932908 Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600
2026-05-17 16:47:20 -07:00
parent 66d764a116
commit 71d1014e70
21 changed files with 234 additions and 57 deletions
@@ -81,10 +81,10 @@ typedef enum mjtEnableBit_ {      // enable optional feature bitflags
  mjENBL_ENERGY       = 1<<1,     // energy computation
  mjENBL_FWDINV       = 1<<2,     // record solver statistics
  mjENBL_INVDISCRETE  = 1<<3,     // discrete-time inverse dynamics
-                                  // experimental features:
  mjENBL_SLEEP        = 1<<4,     // sleeping
+  mjENBL_DIAGEXACT    = 1<<5,     // exact diagonal of constraint inertia

-  mjNENABLE           = 5         // number of enable flags
+  mjNENABLE           = 6         // number of enable flags
 } mjtEnableBit;