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
@@ -1126,6 +1126,7 @@ void mjXWriter::Option(XMLElement* root) {
    WRITEENBL("fwdinv",         mjENBL_FWDINV)
    WRITEENBL("invdiscrete",    mjENBL_INVDISCRETE)
    WRITEENBL("sleep",          mjENBL_SLEEP)
+    WRITEENBL("diagexact",      mjENBL_DIAGEXACT)
 #undef WRITEENBL
  }