Add mjData.nl: number of active limit constraints.

PiperOrigin-RevId: 561012367 Change-Id: I9a01fec55502f8a90d7435972e477455ae29df15
2023-08-29 06:31:25 -07:00
parent 389736f5a1
commit df1b3515c7
7 changed files with 19 additions and 2 deletions
@@ -186,6 +186,7 @@ struct mjData_ {
  // variable sizes
  int     ne;                // number of equality constraints
  int     nf;                // number of friction constraints
+  int     nl;                // number of limit constraints
  int     nefc;              // number of constraints
  int     nnzJ;              // number of non-zeros in constraint Jacobian
  int     ncon;              // number of detected contacts
@@ -637,6 +637,7 @@
    X( int,       ngeompair_narrow   ) \
    X( int,       ne                 ) \
    X( int,       nf                 ) \
+    X( int,       nl                 ) \
    X( int,       nefc               ) \
    X( int,       nnzJ               ) \
    X( int,       ncon               ) \