chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Make constraint island discovery on by default.

Browse Source 
Also fix latent bug in mjData serialization.

PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
This commit is contained in:
Yuval Tassa
2025-08-26 04:26:30 -07:00
committed by Copybara-Service
parent 4cf5c37211
commit ec94bb49aa
27 changed files with 147 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_island.c
+2 -2
View File
@@ -411,7 +411,7 @@ void mj_island(const mjModel* m, mjData* d) {
int nv = m->nv, nefc = d->nefc, ntree=m->ntree;
// no constraints: quick return
if (!mjENABLED(mjENBL_ISLAND) || !nefc) {
if (mjDISABLED(mjDSBL_ISLAND) || !nefc) {
d->nisland = d->nidof = 0;
return;
}
@@ -454,7 +454,7 @@ void mj_island(const mjModel* m, mjData* d) {
return;
}
// count ni: total number of dofs in islands
// count nidof: total number of dofs in islands
int nidof = 0;
for (int i=0; i < nv; i++) {
nidof += (tree_island[m->dof_treeid[i]] >= 0);