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

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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
This commit is contained in:
Yuval Tassa
2026-07-17 15:04:37 -07:00
committed by Copybara-Service
parent ebd4abae03
commit a04b0c5b97
20 changed files with 111 additions and 34 deletions
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src/engine/engine_forward.c
+1 -1
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@@ -794,7 +794,7 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
d->moment_rownnz, d->moment_rowadr, d->moment_colind);
// actuator-level gravity compensation
if (m->ngravcomp && !mjDISABLED(mjDSBL_GRAVITY) && mju_norm3(m->opt.gravity)) {
if (m->flg_gravcomp && !mjDISABLED(mjDSBL_GRAVITY) && mju_norm3(m->opt.gravity)) {
// number of dofs for each joint type: {mjJNT_FREE, mjJNT_BALL, mjJNT_SLIDE, mjJNT_HINGE}
static const int jnt_dofnum[4] = {6, 3, 1, 1};
int njnt = m->njnt;