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Add vertex equality option.

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PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
This commit is contained in:
Alessio Quaglino
2026-01-23 16:29:17 -08:00
committed by Copybara-Service
parent a5de40b400
commit 7da271c687
24 changed files with 391 additions and 30 deletions
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src/engine/engine_island.c
+3 -1
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@@ -352,7 +352,9 @@ static int findEdges(const mjModel* m, const mjData* d, int* treenedge, int* edg
// row i is still in the same constraint: skip it,
if (efc_type == d->efc_type[i] && efc_id == d->efc_id[i]) {
// unless it is a flex equality, where the tree pattern changes per dof
if (!(efc_type == mjCNSTR_EQUALITY && m->eq_type[efc_id] == mjEQ_FLEX)) {
if (!(efc_type == mjCNSTR_EQUALITY &&
(m->eq_type[efc_id] == mjEQ_FLEX ||
m->eq_type[efc_id] == mjEQ_FLEXVERT))) {
continue;
}
}