Refactor handling of auto-limits.

PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951

src/user/user_objects.h

@@ -347,6 +347,11 @@ class mjCJoint : public mjCBase, private mjmJoint {
   // used by mjXWriter and mjCModel
   const std::vector<double>& get_userdata() { return userdata_; }
 
+  // public getters
+  bool is_limited() const { return limited_; }
+  bool is_actfrclimited() const { return actfrclimited_; }
+
+
  private:
   mjCJoint(mjCModel* = 0, mjCDef* = 0);
 
@@ -354,6 +359,8 @@ class mjCJoint : public mjCBase, private mjmJoint {
   void PointToLocal(void);
 
   mjCBody* body;                   // joint's body
+  bool limited_;                   // actual (inferred) value of limited
+  bool actfrclimited_;             // actual (inferred) value of actfrclimited
   // variable-size data
   std::vector<double> userdata_;
   std::vector<double> spec_userdata_;
@@ -1081,12 +1088,16 @@ class mjCTendon : public mjCBase, private mjmTendon {
   void CopyFromSpec();
   void PointToLocal();
 
+  // public getters
+  bool is_limited() const { return limited_; }
+
  private:
   mjCTendon(mjCModel* = 0, mjCDef* = 0);      // constructor
   ~mjCTendon();                               // destructor
   void Compile(void);                         // compiler
 
   int matid;                      // material id for rendering
+  bool limited_;                  // actual (inferred) value of limited
 
   // variable-size data
   std::string material_;
@@ -1169,6 +1180,11 @@ class mjCActuator : public mjCBase, private mjmActuator {
   const std::string& get_slidersite() { return spec_slidersite_; }
   const std::string& get_refsite() { return spec_refsite_; }
 
+  // public getters
+  bool is_ctrllimited() const { return ctrllimited_; }
+  bool is_forcelimited() const { return forcelimited_; }
+  bool is_actlimited() const { return actlimited_; }
+
  private:
   mjCActuator(mjCModel* = 0, mjCDef* = 0);  // constructor
   void Compile(void);                       // compiler
@@ -1176,6 +1192,9 @@ class mjCActuator : public mjCBase, private mjmActuator {
   void MakePointerLocal();
 
   int trnid[2];                   // id of transmission target
+  bool ctrllimited_;              // actual (inferred) value of ctrllimited
+  bool forcelimited_;             // actual (inferred) value of forcelimited
+  bool actlimited_;               // actual (inferred) value of actlimited
 
   // variable-size data
   std::string target_;