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Fix implicit integrator derivatives for actearly actuators.

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The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.

PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b
This commit is contained in:
Yuval Tassa
2026-02-11 04:02:43 -08:00
committed by Copybara-Service
parent 730d494b7f
commit 7f74487a26
6 changed files with 108 additions and 31 deletions
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doc/changelog.rst
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@@ -122,6 +122,8 @@ Documentation
Bug fixes
^^^^^^^^^
- Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives did not
account for the :ref:`actearly<actuator-general-actearly>` flag.
- Multi threaded mesh processing, enabled by the :ref:`usethread<compiler-usethread>` compiler flag (on by default), was
in fact disabled by the flag. Fixing this bug speeds up compilation of mesh-heavy models by (up to) the number of
available cores.