From e9869d3bf3b28528f31fafbb594b1d3082bd33e2 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Sat, 10 Dec 2022 04:13:03 -0800
Subject: [PATCH] Add a missing `TM_END` call when `mj_fwdConstraint` returns
 early.

PiperOrigin-RevId: 494375187
Change-Id: I013b6cdac06350a6c563fb686df9104dfb7258dd
---
 src/engine/engine_forward.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 618e43fb..feeefc3a 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -452,6 +452,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
     mju_copy(d->qacc_warmstart, d->qacc_smooth, nv);
     mju_zero(d->qfrc_constraint, nv);
     d->solver_iter = 0;
+    TM_END(mjTIMER_CONSTRAINT);
     return;
   }