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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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unity/Runtime/Bindings/MjBindings.cs
+3 -2
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@@ -4765,6 +4765,7 @@ public unsafe struct mjData_ {
public double* ctrl;
public double* qfrc_applied;
public double* xfrc_applied;
public byte* eq_active;
public double* mocap_pos;
public double* mocap_quat;
public double* qacc;
@@ -5318,7 +5319,7 @@ public unsafe struct mjModel_ {
public int* eq_type;
public int* eq_obj1id;
public int* eq_obj2id;
public byte* eq_active;
public byte* eq_active0;
public double* eq_solref;
public double* eq_solimp;
public double* eq_data;
@@ -6047,7 +6048,6 @@ public unsafe struct model {
public int* eq_type;
public int* eq_obj1id;
public int* eq_obj2id;
public byte* eq_active;
public double* eq_data;
public int* tendon_num;
public int* tendon_matid;
@@ -6104,6 +6104,7 @@ public unsafe struct data {
public double* act;
public double* ctrl;
public double* xfrc_applied;
public byte* eq_active;
public double* sensordata;
public double* xpos;
public double* xquat;