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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/engine/engine_island_test.cc
+2 -2
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@@ -381,12 +381,12 @@ TEST_F(IslandTest, IslandFlex) {
mjData* data1 = mj_makeData(model);
mjData* data2 = mj_makeData(model);
model->opt.enableflags |= mjENBL_ISLAND;
model->opt.disableflags &= ~mjDSBL_ISLAND;
while (data1->time < 0.2) {
mj_step(model, data1);
}
model->opt.enableflags &= ~mjENBL_ISLAND;
model->opt.disableflags |= mjDSBL_ISLAND;
while (data2->time < 0.2) {
mj_step(model, data2);
}