2 Commits

Author	SHA1	Message	Date
Yuval Tassa	d3ed16e78f	Add mjData.dof_islandind, indexing from dofs into islands. ... Also fix bug in allocation for constraint islands, added allocation for limit constraints. PiperOrigin-RevId: 561083128 Change-Id: I9e01d5a5b7454ec3cf60bccadaa0f96f2c0d87d1	2023-08-29 11:06:17 -07:00
Yuval Tassa	3e034e38b2	Add constraint island discovery ... PiperOrigin-RevId: 557067599 Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725	2023-08-15 02:30:05 -07:00