chenlin/Mujoco_WASM
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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