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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/user/user_model.cc
+1 -1
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@@ -1950,7 +1950,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->eq_type[i] = peq->type;
m->eq_obj1id[i] = peq->obj1id;
m->eq_obj2id[i] = peq->obj2id;
m->eq_active[i] = peq->active;
m->eq_active0[i] = peq->active;
copyvec(m->eq_solref+mjNREF*i, peq->solref, mjNREF);
copyvec(m->eq_solimp+mjNIMP*i, peq->solimp, mjNIMP);
copyvec(m->eq_data+mjNEQDATA*i, peq->data, mjNEQDATA);