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Make constraint island discovery on by default.

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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
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src/engine/engine_support.c
+3 -3
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@@ -62,7 +62,8 @@ const char* mjDISABLESTRING[mjNDISABLE] = {
"Midphase",
"Eulerdamp",
"AutoReset",
"NativeCCD"
"NativeCCD",
"Island"
};
@@ -72,8 +73,7 @@ const char* mjENABLESTRING[mjNENABLE] = {
"Energy",
"Fwdinv",
"InvDiscrete",
"MultiCCD",
"Island"
"MultiCCD"
};