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Merge pull request #3396 from teerthsharma:topo/linear-island-scratch

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PiperOrigin-RevId: 951110709
Change-Id: I0c9c96365a5667172c1d676026ab797b7f8e8137
This commit is contained in:
Copybara-Service
2026-07-20 16:16:35 -07:00
parent 5ea4c3a58c 57faf5f63a
commit a1f38c8e6e
4 changed files with 652 additions and 95 deletions
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src/engine/engine_island.h
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@@ -23,6 +23,11 @@
extern "C" {
#endif
// disjoint-set roots are minimum tree indices; mj_dsuRoot requires parent[tree] >= 0
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
MJAPI int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, const int* colind,