From 5ef8cb6bbc5c90499c9864f86e21235417b8db7b Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Tue, 4 Oct 2022 08:20:17 -0700
Subject: [PATCH] Disable contact in the temporary mjData created during
 mjCModel::TryCompile.

PiperOrigin-RevId: 478793238
Change-Id: I28ed324b70931eb416ca57574570bf02c977f337
---
 src/user/user_model.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 7a875ee6..2eb0881f 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -2673,6 +2673,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   }
 
   // create data
+  int disableflags = m->opt.disableflags;
+  m->opt.disableflags |= mjDSBL_CONTACT;
   d = mj_makeData(m);
   if (!d) {
     throw mjCError(0, "could not create mjData");
@@ -2710,6 +2712,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
 
   // delete data
   mj_deleteData(d);
+  m->opt.disableflags = disableflags;
   d = nullptr;
 
   // pass warning back