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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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src/engine/engine_print.c
+6
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@@ -1083,6 +1083,12 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "DOF_ISLANDIND");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->dof_islandind[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "EFC_ISLAND");
for (int i = 0; i < d->nefc; i++) {
fprintf(fp, " %d", d->efc_island[i]);