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Reapply removal of the passive option

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Co-authored-by: joanllobera <joan.llobera@gmail.com>
This commit is contained in:
Bálint Hodossy
2026-03-11 09:56:25 +00:00
parent 3cada28be7
commit 6e6655ee19
1 changed files with 11 additions and 8 deletions
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unity/Runtime/Components/MjGlobalSettings.cs
+11 -8
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@@ -63,7 +63,8 @@ public struct MjcfOptionFlag {
public EnableDisableFlag FrictionLoss; public EnableDisableFlag FrictionLoss;
public EnableDisableFlag Limit; public EnableDisableFlag Limit;
public EnableDisableFlag Contact; public EnableDisableFlag Contact;
public EnableDisableFlag Passive; public EnableDisableFlag Spring;
public EnableDisableFlag Damper;
public EnableDisableFlag Gravity; public EnableDisableFlag Gravity;
public EnableDisableFlag ClampCtrl; public EnableDisableFlag ClampCtrl;
public EnableDisableFlag WarmStart; public EnableDisableFlag WarmStart;
@@ -80,7 +81,8 @@ public struct MjcfOptionFlag {
FrictionLoss = EnableDisableFlag.enable, FrictionLoss = EnableDisableFlag.enable,
Limit = EnableDisableFlag.enable, Limit = EnableDisableFlag.enable,
Contact = EnableDisableFlag.enable, Contact = EnableDisableFlag.enable,
Passive = EnableDisableFlag.enable, Spring = EnableDisableFlag.enable,
Damper = EnableDisableFlag.enable,
Gravity = EnableDisableFlag.enable, Gravity = EnableDisableFlag.enable,
ClampCtrl = EnableDisableFlag.enable, ClampCtrl = EnableDisableFlag.enable,
WarmStart = EnableDisableFlag.enable, WarmStart = EnableDisableFlag.enable,
@@ -101,7 +103,8 @@ public struct MjcfOptionFlag {
localDefault.FrictionLoss); localDefault.FrictionLoss);
Limit = mjcf.GetEnumAttribute<EnableDisableFlag>("limit", localDefault.Limit); Limit = mjcf.GetEnumAttribute<EnableDisableFlag>("limit", localDefault.Limit);
Contact = mjcf.GetEnumAttribute<EnableDisableFlag>("contact", localDefault.Contact); Contact = mjcf.GetEnumAttribute<EnableDisableFlag>("contact", localDefault.Contact);
Passive = mjcf.GetEnumAttribute<EnableDisableFlag>("passive", localDefault.Passive); Spring = mjcf.GetEnumAttribute<EnableDisableFlag>("spring", localDefault.Spring);
Damper = mjcf.GetEnumAttribute<EnableDisableFlag>("damper", localDefault.Damper);
Gravity = mjcf.GetEnumAttribute<EnableDisableFlag>("gravity", localDefault.Gravity); Gravity = mjcf.GetEnumAttribute<EnableDisableFlag>("gravity", localDefault.Gravity);
ClampCtrl = mjcf.GetEnumAttribute<EnableDisableFlag>("clampctrl", localDefault.ClampCtrl); ClampCtrl = mjcf.GetEnumAttribute<EnableDisableFlag>("clampctrl", localDefault.ClampCtrl);
WarmStart = mjcf.GetEnumAttribute<EnableDisableFlag>("warmstart", localDefault.WarmStart); WarmStart = mjcf.GetEnumAttribute<EnableDisableFlag>("warmstart", localDefault.WarmStart);
@@ -121,7 +124,8 @@ public struct MjcfOptionFlag {
mjcf.SetAttribute("frictionloss", FrictionLoss.ToString()); mjcf.SetAttribute("frictionloss", FrictionLoss.ToString());
mjcf.SetAttribute("limit", Limit.ToString()); mjcf.SetAttribute("limit", Limit.ToString());
mjcf.SetAttribute("contact", Contact.ToString()); mjcf.SetAttribute("contact", Contact.ToString());
mjcf.SetAttribute("passive", Passive.ToString()); mjcf.SetAttribute("spring", Spring.ToString());
mjcf.SetAttribute("damper", Damper.ToString());
mjcf.SetAttribute("gravity", Gravity.ToString()); mjcf.SetAttribute("gravity", Gravity.ToString());
mjcf.SetAttribute("clampctrl", ClampCtrl.ToString()); mjcf.SetAttribute("clampctrl", ClampCtrl.ToString());
mjcf.SetAttribute("warmstart", WarmStart.ToString()); mjcf.SetAttribute("warmstart", WarmStart.ToString());
@@ -156,6 +160,7 @@ public struct MjSizeStruct {
public struct MjOptionStruct { public struct MjOptionStruct {
// "timestep" and "gravity" come from global settings. // "timestep" and "gravity" come from global settings.
// "apirate" is only relevant to HAPTIX.
[Tooltip("Ratio of frictional-to-normal constraint impedance.")] [Tooltip("Ratio of frictional-to-normal constraint impedance.")]
public float ImpRatio; public float ImpRatio;
[Tooltip("Global magnetic flux used by magnetometer sensors.")] [Tooltip("Global magnetic flux used by magnetometer sensors.")]
@@ -270,10 +275,9 @@ public struct MjOptionStruct {
public XmlElement ToMjcf(XmlElement mjcf) { public XmlElement ToMjcf(XmlElement mjcf) {
mjcf.SetAttribute("impratio", MjEngineTool.MakeLocaleInvariant($"{ImpRatio}")); mjcf.SetAttribute("impratio", MjEngineTool.MakeLocaleInvariant($"{ImpRatio}"));
mjcf.SetAttribute("magnetic",
mjcf.SetAttribute("magnetic", MjEngineTool.MakeLocaleInvariant($"{Magnetic.x} {Magnetic.y} {Magnetic.z}")); MjEngineTool.MakeLocaleInvariant($"{Magnetic.x} {Magnetic.y} {Magnetic.z}"));
mjcf.SetAttribute("wind", MjEngineTool.MakeLocaleInvariant($"{Wind.x} {Wind.y} {Wind.z}")); mjcf.SetAttribute("wind", MjEngineTool.MakeLocaleInvariant($"{Wind.x} {Wind.y} {Wind.z}"));
mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}")); mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}"));
mjcf.SetAttribute("viscosity", MjEngineTool.MakeLocaleInvariant($"{Viscosity}")); mjcf.SetAttribute("viscosity", MjEngineTool.MakeLocaleInvariant($"{Viscosity}"));
mjcf.SetAttribute("o_margin", MjEngineTool.MakeLocaleInvariant($"{OverrideMargin}")); mjcf.SetAttribute("o_margin", MjEngineTool.MakeLocaleInvariant($"{OverrideMargin}"));
@@ -285,7 +289,6 @@ public struct MjOptionStruct {
mjcf.SetAttribute("cone", Cone.ToString()); mjcf.SetAttribute("cone", Cone.ToString());
mjcf.SetAttribute("jacobian", Jacobian.ToString()); mjcf.SetAttribute("jacobian", Jacobian.ToString());
mjcf.SetAttribute("solver", Solver.ToString()); mjcf.SetAttribute("solver", Solver.ToString());
mjcf.SetAttribute("iterations", MjEngineTool.MakeLocaleInvariant($"{Iterations}")); mjcf.SetAttribute("iterations", MjEngineTool.MakeLocaleInvariant($"{Iterations}"));
mjcf.SetAttribute("tolerance", MjEngineTool.MakeLocaleInvariant($"{Tolerance}")); mjcf.SetAttribute("tolerance", MjEngineTool.MakeLocaleInvariant($"{Tolerance}"));
mjcf.SetAttribute("noslip_iterations", MjEngineTool.MakeLocaleInvariant($"{NoSlipIterations}")); mjcf.SetAttribute("noslip_iterations", MjEngineTool.MakeLocaleInvariant($"{NoSlipIterations}"));