Add mjData flags marking lazily evaluated pipeline stages

PiperOrigin-RevId: 861763477 Change-Id: Ib613c56949264573a16306800658f868d2aa7665
2026-01-27 09:44:16 -08:00
parent ba32568138
commit 5fb47df197
12 changed files with 124 additions and 73 deletions
@@ -1327,6 +1327,12 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
  d->time = 0;
  mju_zero(d->energy, 2);

+  // clear lazy evaluation flags
+  d->flg_energypos = 0;
+  d->flg_energyvel = 0;
+  d->flg_subtreevel = 0;
+  d->flg_rnepost = 0;
+
  //------------------------------ clear buffer, set defaults

  // fill buffer with debug_value (normally 0)