chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Merge friction and limit constraint counting into instantiation functions.

Browse Source 
PiperOrigin-RevId: 884379952
Change-Id: I23605f3e5ada0ed0fbdcf3e1903f54788700e2d3
This commit is contained in:
Yuval Tassa
2026-03-16 05:22:35 -07:00
committed by Copybara-Service
parent a47a18dd28
commit c651a0daeb
2 changed files with 119 additions and 189 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_constraint.h
-6
View File
@@ -58,12 +58,6 @@ MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
// equality constraints
void mj_instantiateEquality(const mjModel* m, mjData* d);
// frictional dofs and tendons
void mj_instantiateFriction(const mjModel* m, mjData* d);
// joint and tendon limits
void mj_instantiateLimit(const mjModel* m, mjData* d);
// frictionless and frictional contacts
void mj_instantiateContact(const mjModel* m, mjData* d);