Add body/simple attribute to control simple body optimization.

PiperOrigin-RevId: 942164766 Change-Id: I1e83bb99b6a1955917eb9b2e9bed0dc7b8e6a161
2026-07-03 09:08:42 -07:00
parent 4ecfe5c1f3
commit 5618666a7d
19 changed files with 205 additions and 10 deletions
@@ -279,6 +279,7 @@ typedef struct mjsBody_ {          // body specification
  mjtByte mocap;                   // is this a mocap body
  double gravcomp;                 // gravity compensation
  mjtSleepPolicy sleep;            // sleep policy
+  mjtByte simple;                  // simple body optimization (0: false, 1: auto)
  mjDoubleVec* userdata;           // user data
  mjtByte explicitinertial;        // whether to save the body with explicit inertial clause
  mjsPlugin plugin;                // passive force plugin
@@ -114,6 +114,7 @@
    X   ( mjtByte,         mocap,            1 ) \
    X   ( double,          gravcomp,         1 ) \
    X   ( mjtSleepPolicy,  sleep,            1 ) \
+    X   ( mjtByte,         simple,           1 ) \
    X   ( mjDoubleVec*,    userdata,         1 ) \
    X   ( mjtByte,         explicitinertial, 1 ) \
    X   ( mjsPlugin,       plugin,           1 ) \