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Allow flex sleeping

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PiperOrigin-RevId: 917817500
Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
This commit is contained in:
Yuval Tassa
2026-05-19 07:14:45 -07:00
committed by Copybara-Service
parent ddc4c54d16
commit f712eed4ce
21 changed files with 660 additions and 57 deletions
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src/engine/engine_island.c
+4 -3
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@@ -331,7 +331,8 @@ static int findEdges(const mjModel* m, const mjData* d,
// unless it is a flex equality, where the tree pattern changes per dof
if (!(efc_type == mjCNSTR_EQUALITY &&
(m->eq_type[efc_id] == mjEQ_FLEX ||
m->eq_type[efc_id] == mjEQ_FLEXVERT))) {
m->eq_type[efc_id] == mjEQ_FLEXVERT ||
m->eq_type[efc_id] == mjEQ_FLEXSTRAIN))) {
// copy tree assignment from previous constraint and continue
efc_tree[i] = efc_tree[i-1];
continue;
@@ -482,7 +483,7 @@ void mj_island(const mjModel* m, mjData* d) {
// compute dof_island, island_nv
mju_zeroInt(d->island_nv, nisland);
for (int i=0; i < nv; i++) {
// assign dofs to islands
// assign DOFs to islands
int island = tree_island[m->dof_treeid[i]]; // -1 if unconstrained
d->dof_island[i] = island;
@@ -499,7 +500,7 @@ void mj_island(const mjModel* m, mjData* d) {
}
// compute dof <-> idof maps
int* island_nv2 = mjSTACKALLOC(d, nisland + 1, int); // last element counts unconstrained dofs
int* island_nv2 = mjSTACKALLOC(d, nisland + 1, int); // last element counts unconstrained DOFs
mju_zeroInt(island_nv2, nisland + 1);
for (int dof=0; dof < nv; dof++) {
int island = d->dof_island[dof];