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Add compiler settings to mjmModel.

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PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1
This commit is contained in:
Alessio Quaglino
2024-02-21 01:57:19 -08:00
committed by Copybara-Service
parent abf6d41b7f
commit 042760eba8
12 changed files with 130 additions and 91 deletions
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src/user/user_init.cc
+22
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@@ -31,6 +31,28 @@ void mjm_defaultModel(mjmModel& model) {
model.stat.meansize = mjNAN;
model.stat.extent = mjNAN;
model.stat.center[0] = mjNAN;
// compiler settings
model.autolimits = true;
model.boundmass = 0;
model.boundinertia = 0;
model.settotalmass = -1;
model.balanceinertia = false;
model.strippath = false;
model.fitaabb = false;
model.degree = true;
model.euler[0] = 'x';
model.euler[1] = 'y';
model.euler[2] = 'z';
model.discardvisual = false;
model.convexhull = true;
model.usethread = true;
model.fusestatic = false;
model.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
model.inertiagrouprange[0] = 0;
model.inertiagrouprange[1] = mjNGROUP-1;
model.exactmeshinertia = false;
mj_defaultLROpt(&model.LRopt);
}