Add boolean flags for gravity compensation and surface velocity in mjModel.

These fields (`flg_gravcomp` and `flg_surfacevel`) replace the fast-path checks originally guarded by `ngravcomp` and (recently) `nsurfacevel`. Since the engine uses these integers only as flags (zero vs non-zero), migrating them to actual booleans makes them writeable from the Python bindings at runtime without violating size/dimension constraints. The legacy integer field `ngravcomp` is marked as deprecated and will be removed in a future release. PiperOrigin-RevId: 949779204 Change-Id: Ifab1f026063a4239302e6ad689663b611b59dda8
2026-07-17 15:04:37 -07:00
parent ebd4abae03
commit a04b0c5b97
20 changed files with 111 additions and 34 deletions
@@ -247,7 +247,6 @@
    X( nnames_map )         \
    X( nJmom )              \
    X( ngravcomp )          \
-    X( nsurfacevel )        \
    X( nemax )              \
    X( njmax )              \
    X( nconmax )            \