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Extract memory allocation functions and core utilities

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PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
This commit is contained in:
Yuval Tassa
2025-09-01 03:37:16 -07:00
committed by Copybara-Service
parent 5d598a49a2
commit b9900db00e
35 changed files with 1652 additions and 1445 deletions
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src/engine/engine_core_constraint.h
-7
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@@ -27,12 +27,6 @@ extern "C" {
//-------------------------- Jacobian-related ------------------------------------------------------
// determine type of friction cone
MJAPI int mj_isPyramidal(const mjModel* m);
// determine type of constraint Jacobian
MJAPI int mj_isSparse(const mjModel* m);
// determine type of solver
MJAPI int mj_isDual(const mjModel* m);
@@ -60,7 +54,6 @@ mjtNum mj_assignMargin(const mjModel* m, mjtNum source);
// add contact to d->contact list; return 0 if success; 1 if buffer full
MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
//-------------------------- constraint instantiation ----------------------------------------------
// equality constraints