Move mjtConstraintState from mjmodel.h to mjdata.h.

This is the correct location, this enum is only used in `mjData`, not `mjModel`.

PiperOrigin-RevId: 798860951
Change-Id: I48b9a2afc831bd9a6966cc9586429fd03605bdd2

doc/APIreference/APItypes.rst

@@ -338,15 +338,6 @@ of active constraints is constructed at each simulation time step.
 
 .. mujoco-include:: mjtConstraint
 
-.. _mjtConstraintState:
-
-mjtConstraintState
-~~~~~~~~~~~~~~~~~~
-
-These values are used by the solver internally to keep track of the constraint states.
-
-.. mujoco-include:: mjtConstraintState
-
 
 .. _mjtSensor:
 
@@ -440,6 +431,16 @@ State component elements as integer bitflags and several convenient combinations
 .. mujoco-include:: mjtState
 
 
+.. _mjtConstraintState:
+
+mjtConstraintState
+~~~~~~~~~~~~~~~~~~
+
+These values are used by the solver internally to keep track of the constraint states.
+
+.. mujoco-include:: mjtConstraintState
+
+
 .. _mjtWarning:
 
 mjtWarning

doc/includes/references.h

@@ -41,6 +41,13 @@ typedef enum mjtState_ {          // state elements
                           mjSTATE_USERDATA,
   mjSTATE_INTEGRATION   = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
 } mjtState;
+typedef enum mjtConstraintState_ {  // constraint state
+  mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
+  mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
+  mjCNSTRSTATE_LINEARNEG,           // linear cost, negative side (friction)
+  mjCNSTRSTATE_LINEARPOS,           // linear cost, positive side (friction)
+  mjCNSTRSTATE_CONE                 // squared distance to cone cost (elliptic contact)
+} mjtConstraintState;
 typedef enum mjtWarning_ {   // warning types
   mjWARN_INERTIA      = 0,   // (near) singular inertia matrix
   mjWARN_CONTACTFULL,        // too many contacts in contact list
@@ -642,13 +649,6 @@ typedef enum mjtConstraint_ {     // type of constraint
   mjCNSTR_CONTACT_PYRAMIDAL,      // frictional contact, pyramidal friction cone
   mjCNSTR_CONTACT_ELLIPTIC        // frictional contact, elliptic friction cone
 } mjtConstraint;
-typedef enum mjtConstraintState_ {  // constraint state
-  mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
-  mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
-  mjCNSTRSTATE_LINEARNEG,           // linear cost, negative side (friction)
-  mjCNSTRSTATE_LINEARPOS,           // linear cost, positive side (friction)
-  mjCNSTRSTATE_CONE                 // squared distance to cone cost (elliptic contact)
-} mjtConstraintState;
 typedef enum mjtSensor_ {         // type of sensor
   // common robotic sensors, attached to a site
   mjSENS_TOUCH        = 0,        // scalar contact normal forces summed over sensor zone