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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_vis_visualize.c
+1 -1
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@@ -1908,7 +1908,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->flags[mjVIS_CONSTRAINT] && (category & catmask) && m->neq) {
// connect or weld
for (int i=0; i < m->neq; i++) {
if (m->eq_active[i] && (m->eq_type[i] == mjEQ_CONNECT || m->eq_type[i] == mjEQ_WELD)) {
if (d->eq_active[i] && (m->eq_type[i] == mjEQ_CONNECT || m->eq_type[i] == mjEQ_WELD)) {
// compute endpoints in global coordinates
int j = m->eq_obj1id[i], k = m->eq_obj2id[i];
mju_rotVecMat(vec, m->eq_data+mjNEQDATA*i+3*(m->eq_type[i] == mjEQ_WELD), d->xmat+9*j);