chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_memory.h
+1
View File
@@ -76,6 +76,7 @@ static inline void mj_clearEfc(mjData* d) {
#undef X
d->nefc = 0;
d->nisland = 0;
d->nJ = d->nY = d->nA = 0;
d->contact = (mjContact*) d->arena;
// if any contacts are allocated, clear their efc_address