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Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.

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Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
This commit is contained in:
Yuval Tassa
2023-10-03 09:29:45 -07:00
committed by Copybara-Service
parent 177aec68dc
commit ee78b8f76b
19 changed files with 180 additions and 72 deletions
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src/engine/engine_io.c
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@@ -1549,6 +1549,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
mju_zero(d->qvel, m->nv);
mju_zero(d->act, m->na);
mju_zero(d->ctrl, m->nu);
for (int i=0; i<m->neq; i++) d->eq_active[i] = m->eq_active0[i];
mju_zero(d->qfrc_applied, m->nv);
mju_zero(d->xfrc_applied, 6*m->nbody);
mju_zero(d->qacc, m->nv);