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Refactor islands to be memory contiguous.

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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
This commit is contained in:
Yuval Tassa
2025-05-07 05:05:34 -07:00
committed by Copybara-Service
parent 449de73430
commit ecb769fc3a
30 changed files with 1742 additions and 1116 deletions
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src/engine/engine_io.c
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@@ -1917,6 +1917,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
d->nJ = 0;
d->nA = 0;
d->nisland = 0;
d->nidof = 0;
// clear global properties
d->time = 0;