Add mjData.dof_islandind, indexing from dofs into islands.

Also fix bug in allocation for constraint islands, added allocation for limit constraints. PiperOrigin-RevId: 561083128 Change-Id: I9e01d5a5b7454ec3cf60bccadaa0f96f2c0d87d1
2023-08-29 11:05:41 -07:00
parent daa2ac7f8b
commit d3ed16e78f
9 changed files with 127 additions and 4 deletions
@@ -4372,6 +4372,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 ),
                 doc='island dof indices; -1: none                     (nv x 1)',  # pylint: disable=line-too-long
             ),
+             StructFieldDecl(
+                 name='dof_islandind',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='dof island indices; -1: none                     (nv x 1)',  # pylint: disable=line-too-long
+             ),
             StructFieldDecl(
                 name='efc_island',
                 type=PointerType(