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Enable multiccd by default.

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PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4
This commit is contained in:
Kyle Bayes
2026-04-20 11:59:24 -07:00
committed by Copybara-Service
parent 8e7787ad09
commit 6cb6e5a93f
22 changed files with 43 additions and 47 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+2 -2
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@@ -649,7 +649,6 @@ class ModelWriter {
};
const std::vector<std::pair<pxr::TfToken, int>> enable_flags = {
{MjcPhysicsTokens->mjcFlagMulticcd, mjENBL_MULTICCD},
{MjcPhysicsTokens->mjcFlagFwdinv, mjENBL_FWDINV},
{MjcPhysicsTokens->mjcFlagEnergy, mjENBL_ENERGY},
{MjcPhysicsTokens->mjcFlagOverride, mjENBL_OVERRIDE},
@@ -677,7 +676,8 @@ class ModelWriter {
{MjcPhysicsTokens->mjcFlagEulerdamp, mjDSBL_EULERDAMP},
{MjcPhysicsTokens->mjcFlagAutoreset, mjDSBL_AUTORESET},
{MjcPhysicsTokens->mjcFlagNativeccd, mjDSBL_NATIVECCD},
{MjcPhysicsTokens->mjcFlagIsland, mjDSBL_ISLAND}};
{MjcPhysicsTokens->mjcFlagIsland, mjDSBL_ISLAND},
{MjcPhysicsTokens->mjcFlagMulticcd, mjDSBL_MULTICCD}};
for (const auto &[token, flag] : disable_flags) {
create_flag_attr(token, flag, false);
}