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
@@ -146,7 +146,8 @@ public enum mjtEnableBit : int{
  mjENBL_FWDINV = 4,
  mjENBL_INVDISCRETE = 8,
  mjENBL_SLEEP = 16,
-  mjNENABLE = 5,
+  mjENBL_DIAGEXACT = 32,
+  mjNENABLE = 6,
 }
 public enum mjtJoint : int{
  mjJNT_FREE = 0,