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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/changelog.rst
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@@ -34,6 +34,16 @@ General
principled and well-defined. Since this change to RK4 is effectively a bug fix, migration to the previous behavior
is not provided.
- The ``mjDSBL_PASSIVE`` flag for disabling passive forces was removed and replaced by
:ref:`mjDSBL_SPRING<mjtDisableBit>` and :ref:`mjDSBL_DAMPER<mjtDisableBit>` with corresponding
:ref:`mjcf<option-flag-spring>` :ref:`attributes<option-flag-damper>`. Each flag disables only joint and tendon
springs or dampers, respectively. When both flags are set, *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. Setting
both flags recovers the behavior of the previous flag and is the migration path for existing code using
``mjDSBL_PASSIVE``.
.. admonition:: Breaking ABI changes
:class: attention