Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute.

PiperOrigin-RevId: 627087335 Change-Id: Ie85ae4150962463b8a8c8435fec068c44877aa16
2024-04-22 10:44:33 -07:00
parent 546a27ca72
commit 8ebc9ed2c8
8 changed files with 37 additions and 22 deletions
@@ -637,6 +637,7 @@ struct mjModel_ {
  int nD;                         // number of non-zeros in sparse dof-dof matrix
  int nB;                         // number of non-zeros in sparse body-dof matrix
  int ntree;                      // number of kinematic trees under world body
+  int ngravcomp;                  // number of bodies with nonzero gravcomp
  int nemax;                      // number of potential equality-constraint rows
  int njmax;                      // number of available rows in constraint Jacobian
  int nconmax;                    // number of potential contacts in contact list
@@ -139,6 +139,7 @@
    X   ( njmax )              \
    X   ( nconmax )            \
    XMJV( ntree )              \
+    X   ( ngravcomp )          \
    X   ( nuserdata )          \
    XMJV( nsensordata )        \
    X   ( npluginstate )       \