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Restore static-constraint island diagnostic

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Signed-off-by: teerthsharma <teerths57@gmail.com>
This commit is contained in:
teerthsharma
2026-07-20 09:12:58 +05:30
committed by teerthsharma
parent 8d9f230514
commit cdda847191
2 changed files with 31 additions and 1 deletions
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src/engine/engine_island.c
+5 -1
View File
@@ -389,7 +389,11 @@ static void unionConstraintTrees(const mjModel* m, const mjData* d, int* parent,
int tree1 = treeNext(m, d, i, &iter);
if (tree1 != -2) {
int tree2 = treeNext(m, d, i, &iter);
efc_tree[i] = tree1 == -1 ? tree2 : tree1;
// assign tree to constraint, one of (tree1, tree2) must be non-negative
efc_tree[i] = tree1 >= 0 ? tree1 : tree2;
if (efc_tree[i] < 0) {
mjERROR("constraint %d is between two static bodies", i); // SHOULD NOT OCCUR
}
// activate a singleton or union all trees in a multi-tree constraint
if (tree2 == -2) {
test/engine/engine_island_test.cc
+26
View File
@@ -531,6 +531,32 @@ TEST_F(IslandTest, ProductionStaticFirstAndRepeatedRows) {
EXPECT_THAT(AsVector(data->map_iefc2efc, data->nefc), ElementsAre(0, 1, 2, 3, 4, 5));
}
TEST_F(IslandTest, ReportsConstraintBetweenTwoStaticBodies) {
static constexpr char xml[] = R"(
<mujoco>
<option jacobian="sparse"><flag contact="disable" gravity="disable"/></option>
<worldbody>
<body>
<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
<joint type="slide" frictionloss="1"/>
</body>
</worldbody>
</mujoco>
)";
char error[1024] = {};
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
MjDataPtr data = MakeData(model);
mj_fwdPosition(model.get(), data.get());
ASSERT_GT(data->nefc, 0);
ASSERT_EQ(data->efc_type[0], mjCNSTR_FRICTION_DOF);
model->dof_treeid[data->efc_id[0]] = -1;
EXPECT_EQ(MjuErrorMessageFrom(mj_island)(model.get(), data.get()),
"constraint 0 is between two static bodies");
}
TEST_F(IslandTest, ProductionFlexEqualityRescansRows) {
static constexpr char xml[] = R"(
<mujoco>