Fix multiple bugs related to mjvSceneState.

PiperOrigin-RevId: 557864131 Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
2023-08-17 10:24:44 -07:00
parent cf310079e2
commit b1ecc943bb
11 changed files with 302 additions and 147 deletions
@@ -369,6 +369,7 @@ struct mjData_ {
  mjtNum* efc_KBIP;          // stiffness, damping, impedance, imp'              (nefc x 4)
  mjtNum* efc_D;             // constraint mass                                  (nefc x 1)
  mjtNum* efc_R;             // inverse constraint mass                          (nefc x 1)
+  int*    tendon_efcadr;     // first efc address involving tendon; -1: none     (ntendon x 1)

  // computed by mj_island
  int*    island_dofadr;     // address of first dof in island                   (nisland x 1)