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Add mjData.dof_islandind, indexing from dofs into islands.

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Also fix bug in allocation for constraint islands, added allocation for limit constraints.

PiperOrigin-RevId: 561083128
Change-Id: I9e01d5a5b7454ec3cf60bccadaa0f96f2c0d87d1
This commit is contained in:
Yuval Tassa
2023-08-29 11:05:41 -07:00
committed by Copybara-Service
parent daa2ac7f8b
commit d3ed16e78f
9 changed files with 127 additions and 4 deletions
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include/mujoco/mjdata.h
+1
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@@ -377,6 +377,7 @@ struct mjData_ {
int* island_dofnum; // number of dofs in island (nisland x 1)
int* island_dofadr; // start address in island_dofind (nisland x 1)
int* island_dofind; // island dof indices; -1: none (nv x 1)
int* dof_islandind; // dof island indices; -1: none (nv x 1)
int* efc_island; // island id of this constraint (nefc x 1)
int* island_efcnum; // number of constraints in island (nisland x 1)
int* island_efcadr; // start address in island_efcind (nisland x 1)
include/mujoco/mjxmacro.h
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@@ -605,6 +605,7 @@
X( int, island_dofnum, MJ_D(nisland), 1 ) \
X( int, island_dofadr, MJ_D(nisland), 1 ) \
X( int, island_dofind, MJ_M(nv), 1 ) \
X( int, dof_islandind, MJ_M(nv), 1 ) \
X( int, efc_island, MJ_D(nefc), 1 ) \
X( int, island_efcnum, MJ_D(nisland), 1 ) \
X( int, island_efcadr, MJ_D(nisland), 1 ) \