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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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test/engine/engine_forward_test.cc
+37
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@@ -917,6 +917,43 @@ TEST_F(ImplicitIntegratorTest, MidpointEligibility) {
mj_deleteModel(m);
}
// model with degenerate translational inertia
TEST_F(ForwardTest, DegenerateInertia) {
static constexpr char xml[] = R"(
<mujoco>
<option integrator="implicitfast" cone="elliptic">
<flag gravity="disable" diagexact="enable"/>
</option>
<worldbody>
<body name="1" pos="0.05 0.3 0">
<joint name="1" axis="0 1 0"/>
<geom type="capsule" size="0.1 0.5"/>
</body>
<body name="2">
<joint name="2" axis="1 0 0" stiffness="1" springref="90"/>
<geom type="capsule" size="0.1 0.5"/>
</body>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
for (int i = 0; i < 1000; i++) {
mj_step(model, data);
EXPECT_EQ(data->warning[mjWARN_BADQACC].number, 0)
<< "divergence at timestep " << i;
if (data->warning[mjWARN_BADQACC].number != 0) {
break;
}
}
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(ForwardTest, ControlClamping) {
static constexpr char xml[] = R"(
<mujoco>