Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.

PiperOrigin-RevId: 560161140 Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
2023-08-25 12:07:28 -07:00
parent 4db3377467
commit 819b5cb982
16 changed files with 268 additions and 29 deletions
@@ -158,10 +158,11 @@ public enum mjtEnableBit : int{
  mjENBL_OVERRIDE = 1,
  mjENBL_ENERGY = 2,
  mjENBL_FWDINV = 4,
-  mjENBL_SENSORNOISE = 8,
-  mjENBL_MULTICCD = 16,
-  mjENBL_ISLAND = 32,
-  mjNENABLE = 6,
+  mjENBL_INVDISCRETE = 8,
+  mjENBL_SENSORNOISE = 16,
+  mjENBL_MULTICCD = 32,
+  mjENBL_ISLAND = 64,
+  mjNENABLE = 7,
 }
 public enum mjtJoint : int{
  mjJNT_FREE = 0,