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
@@ -1721,6 +1721,7 @@ public unsafe struct mjData_ {
  public int* island_dofnum;
  public int* island_dofadr;
  public int* island_dofind;
+  public int* dof_islandind;
  public int* efc_island;
  public int* island_efcnum;
  public int* island_efcadr;