Enable multiccd by default.

PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4

src/xml/xml_native_reader.cc

@@ -1284,6 +1284,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
     READDSBL("autoreset",    mjDSBL_AUTORESET)
     READDSBL("nativeccd",    mjDSBL_NATIVECCD)
     READDSBL("island",       mjDSBL_ISLAND)
+    READDSBL("multiccd",     mjDSBL_MULTICCD)
 #undef READDSBL
 
 #define READENBL(NAME, MASK) \
@@ -1295,7 +1296,6 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
     READENBL("energy",      mjENBL_ENERGY)
     READENBL("fwdinv",      mjENBL_FWDINV)
     READENBL("invdiscrete", mjENBL_INVDISCRETE)
-    READENBL("multiccd",    mjENBL_MULTICCD)
     READENBL("sleep",       mjENBL_SLEEP)
 #undef READENBL
   }

src/xml/xml_native_writer.cc

@@ -1093,7 +1093,7 @@ void mjXWriter::Option(XMLElement* root) {
     XMLElement* sub = InsertEnd(section, "flag");
 
 #define WRITEDSBL(NAME, MASK) \
-    if( model->option.disableflags & MASK ) \
+    if (model->option.disableflags & MASK) \
       WriteAttrKey(sub, NAME, enable_map, 2, 0);
     WRITEDSBL("constraint",     mjDSBL_CONSTRAINT)
     WRITEDSBL("equality",       mjDSBL_EQUALITY)
@@ -1114,16 +1114,16 @@ void mjXWriter::Option(XMLElement* root) {
     WRITEDSBL("autoreset",      mjDSBL_AUTORESET)
     WRITEDSBL("nativeccd",      mjDSBL_NATIVECCD)
     WRITEDSBL("island",         mjDSBL_ISLAND)
+    WRITEDSBL("multiccd",       mjDSBL_MULTICCD)
 #undef WRITEDSBL
 
 #define WRITEENBL(NAME, MASK) \
-    if( model->option.enableflags & MASK ) \
+    if (model->option.enableflags & MASK) \
       WriteAttrKey(sub, NAME, enable_map, 2, 1);
     WRITEENBL("override",       mjENBL_OVERRIDE)
     WRITEENBL("energy",         mjENBL_ENERGY)
     WRITEENBL("fwdinv",         mjENBL_FWDINV)
     WRITEENBL("invdiscrete",    mjENBL_INVDISCRETE)
-    WRITEENBL("multiccd",       mjENBL_MULTICCD)
     WRITEENBL("sleep",          mjENBL_SLEEP)
 #undef WRITEENBL
   }