| // Copyright 2023 DeepMind Technologies Limited | |
| // | |
| // Licensed under the Apache License, Version 2.0 (the "License"); | |
| // you may not use this file except in compliance with the License. | |
| // You may obtain a copy of the License at | |
| // | |
| // http://www.apache.org/licenses/LICENSE-2.0 | |
| // | |
| // Unless required by applicable law or agreed to in writing, software | |
| // distributed under the License is distributed on an "AS IS" BASIS, | |
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| // See the License for the specific language governing permissions and | |
| // limitations under the License. | |
| extern "C" { | |
| // find disjoint subgraphs ("islands") given sparse symmetric adjacency matrix | |
| MJAPI int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, const int* colind, | |
| int* stack); | |
| //-------------------------- top-level API for island construction --------------------------------- | |
| // discover islands: | |
| // nisland, island_dofadr, dof_island, dof_islandnext, island_efcadr, efc_island, efc_islandnext | |
| MJAPI void mj_island(const mjModel* m, mjData* d); | |
| } | |