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Export disjoint-set island helpers directly

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Signed-off-by: teerthsharma <teerths57@gmail.com>
This commit is contained in:
teerthsharma
2026-07-20 08:59:54 +05:30
committed by teerthsharma
parent d9c8bcbc8f
commit 8d9f230514
3 changed files with 67 additions and 86 deletions
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src/engine/engine_island.h
+6 -5
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@@ -23,11 +23,12 @@
extern "C" {
#endif
MJAPI int _mjPRIVATE_dsuFind(int* parent, int tree);
MJAPI void _mjPRIVATE_dsuInit(int* parent, int ntree);
MJAPI void _mjPRIVATE_dsuUnion(int* parent, int tree1, int tree2);
MJAPI int _mjPRIVATE_dsuAssign(int* island, int* parent,
const int* tree_dofnum, int ntree, int* nidof);
// disjoint-set roots are minimum tree indices; mj_dsuRoot requires parent[tree] >= 0
MJAPI void mj_dsuInit(int* parent, int ntree);
MJAPI void mj_dsuMerge(int* parent, int tree1, int tree2);
MJAPI int mj_dsuRoot(int* parent, int tree);
MJAPI int mj_dsuAssign(int* island, int* parent,
const int* tree_dofnum, int ntree, int* nidof);
// find disjoint subgraphs ("islands") given sparse symmetric adjacency matrix