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Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.

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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
This commit is contained in:
Yuval Tassa
2025-08-29 06:05:18 -07:00
committed by Copybara-Service
parent 0eea5d6dbd
commit b092563cab
39 changed files with 455 additions and 289 deletions
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doc/XMLreference.rst
+17 -3
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@@ -523,12 +523,26 @@ from its default.
:at:`contact`: :at-val:`[disable, enable], "enable"`
This flag disables collision detection and all standard computations related to contact constraints.
.. _option-flag-passive:
.. _option-flag-spring:
:at:`passive`: :at-val:`[disable, enable], "enable"`
This flag disables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive
:at:`spring`: :at-val:`[disable, enable], "enable"`
This flag disables passive joint and tendon springs. If passive :ref:`damper <option-flag-damper>` forces are
also disabled, *all* passive forces are disabled, including gravity compensation, fluid forces, forces computed by
the :ref:`mjcb_passive` callback, and forces computed by :ref:`plugins <exPlugin>` when passed the
:ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
, fluid dynamics forces, and custom passive
forces computed by the :ref:`mjcb_passive` callback. As a result, no passive forces are applied.
.. _option-flag-damper:
:at:`damping`: :at-val:`[disable, enable], "enable"`
This flag disables passive joint and tendon dampers. If passive :ref:`spring <option-flag-spring>` forces are also
disabled, *all* passive forces are disabled, including gravity compensation, fluid forces, forces computed by the
:ref:`mjcb_passive` callback, and forces computed by :ref:`plugins <exPlugin>` when passed the
:ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
.. _option-flag-gravity:
:at:`gravity`: :at-val:`[disable, enable], "enable"`