Don't infer limited attributes automatically by default.

This is an amendment to 4bfc2c0311. Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes. When false, models where limited is not specified, and range is will fail to compile. PiperOrigin-RevId: 472438650 Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90
2022-09-06 06:11:17 -07:00
parent 0784a46f62
commit a693a2d981
15 changed files with 205 additions and 36 deletions
@@ -107,6 +107,7 @@ class mjCModel {
  std::vector<mjCDef*> defaults;  // settings for each defaults class

  //------------------------ compiler settings
+  bool autolimits;                // infer "limited" attribute based on range
  double boundmass;               // enfore minimum body mass
  double boundinertia;            // enfore minimum body diagonal inertia
  double settotalmass;            // rescale masses and inertias; <=0: ignore