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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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test/benchmark/engine_util_sparse_benchmark_test.cc
+1 -1
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@@ -587,7 +587,7 @@ static void BM_sqrMatTDSparse(benchmark::State& state, SqrMatTDFuncPtr func) {
// force use of sparse matrices, Newton solver, no islands
m->opt.jacobian = mjJAC_SPARSE;
m->opt.solver = mjSOL_NEWTON;
m->opt.enableflags &= ~mjENBL_ISLAND;
m->opt.disableflags |= mjDSBL_ISLAND;
mjData* d = mj_makeData(m);