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
@@ -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 ) \