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Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

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PiperOrigin-RevId: 916932908
Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600
This commit is contained in:
Yuval Tassa
2026-05-17 16:47:20 -07:00
committed by Copybara-Service
parent 66d764a116
commit 71d1014e70
21 changed files with 234 additions and 57 deletions
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src/engine/engine_forward.c
+4 -4
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@@ -207,14 +207,14 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
mj_island(m, d);
TM_END(mjTIMER_POS_MAKE);
TM_RESTART;
mj_transmission(m, d);
TM_ADD(mjTIMER_POS_KINEMATICS);
TM_RESTART;
mj_projectConstraint(m, d);
TM_END(mjTIMER_POS_PROJECT);
TM_RESTART;
mj_transmission(m, d);
TM_ADD(mjTIMER_POS_KINEMATICS);
TM_END1(mjTIMER_POSITION);
}