Allow connect constraints to be specified using sites.

PiperOrigin-RevId: 668925419 Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:09:52 -07:00
parent 646455406c
commit a1036b86d3
19 changed files with 325 additions and 76 deletions
@@ -578,6 +578,7 @@ typedef struct mjsEquality_ {      // equality specification
  mjtByte active;                  // is equality initially active
  mjString* name1;                 // name of object 1
  mjString* name2;                 // name of object 2
+  mjtObj objtype;                  // type of both objects
  mjtNum solref[mjNREF];           // solver reference
  mjtNum solimp[mjNIMP];           // solver impedance
  mjString* info;                  // message appended to errors