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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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include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+31 -8
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@@ -915,28 +915,51 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
public:
// --------------------------------------------------------------------- //
// PASSIVEFLAG
// SPRINGFLAG
// --------------------------------------------------------------------- //
/// Enables the simulation of joint and tendon spring-dampers, fluid dynamics
/// forces, and custom passive forces.
/// Enables the simulation of joint and tendon springs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:passive = 1` |
/// | Declaration | `uniform bool mjc:flag:spring = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetPassiveFlagAttr() const;
UsdAttribute GetSpringFlagAttr() const;
/// See GetPassiveFlagAttr(), and also
/// See GetSpringFlagAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreatePassiveFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
UsdAttribute CreateSpringFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// DAMPERFLAG
// --------------------------------------------------------------------- //
/// Enables the simulation of joint and tendon dampers.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:flag:damper = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetDamperFlagAttr() const;
/// See GetDamperFlagAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateDamperFlagAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
include/mujoco/experimental/usd/mjcPhysics/tokens.h
+8 -4
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@@ -302,6 +302,10 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagContact;
/// \brief "mjc:flag:damper"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagDamper;
/// \brief "mjc:flag:energy"
///
/// MjcPhysicsSceneAPI
@@ -358,10 +362,6 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagOverride;
/// \brief "mjc:flag:passive"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagPassive;
/// \brief "mjc:flag:refsafe"
///
/// MjcPhysicsSceneAPI
@@ -370,6 +370,10 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagSensor;
/// \brief "mjc:flag:spring"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagSpring;
/// \brief "mjc:flag:warmstart"
///
/// MjcPhysicsSceneAPI
include/mujoco/mjmodel.h
+15 -14
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@@ -54,21 +54,22 @@ typedef enum mjtDisableBit_ { // disable default feature bitflags
mjDSBL_FRICTIONLOSS = 1<<2, // joint and tendon frictionloss constraints
mjDSBL_LIMIT = 1<<3, // joint and tendon limit constraints
mjDSBL_CONTACT = 1<<4, // contact constraints
mjDSBL_PASSIVE = 1<<5, // passive forces
mjDSBL_GRAVITY = 1<<6, // gravitational forces
mjDSBL_CLAMPCTRL = 1<<7, // clamp control to specified range
mjDSBL_WARMSTART = 1<<8, // warmstart constraint solver
mjDSBL_FILTERPARENT = 1<<9, // remove collisions with parent body
mjDSBL_ACTUATION = 1<<10, // apply actuation forces
mjDSBL_REFSAFE = 1<<11, // integrator safety: make ref[0]>=2*timestep
mjDSBL_SENSOR = 1<<12, // sensors
mjDSBL_MIDPHASE = 1<<13, // mid-phase collision filtering
mjDSBL_EULERDAMP = 1<<14, // implicit integration of joint damping in Euler integrator
mjDSBL_AUTORESET = 1<<15, // automatic reset when numerical issues are detected
mjDSBL_NATIVECCD = 1<<16, // native convex collision detection
mjDSBL_ISLAND = 1<<17, // constraint island discovery
mjDSBL_SPRING = 1<<5, // passive spring forces
mjDSBL_DAMPER = 1<<6, // passive damping forces
mjDSBL_GRAVITY = 1<<7, // gravitational forces
mjDSBL_CLAMPCTRL = 1<<8, // clamp control to specified range
mjDSBL_WARMSTART = 1<<9, // warmstart constraint solver
mjDSBL_FILTERPARENT = 1<<10, // remove collisions with parent body
mjDSBL_ACTUATION = 1<<11, // apply actuation forces
mjDSBL_REFSAFE = 1<<12, // integrator safety: make ref[0]>=2*timestep
mjDSBL_SENSOR = 1<<13, // sensors
mjDSBL_MIDPHASE = 1<<14, // mid-phase collision filtering
mjDSBL_EULERDAMP = 1<<15, // implicit integration of joint damping in Euler integrator
mjDSBL_AUTORESET = 1<<16, // automatic reset when numerical issues are detected
mjDSBL_NATIVECCD = 1<<17, // native convex collision detection
mjDSBL_ISLAND = 1<<18, // constraint island discovery
mjNDISABLE = 18 // number of disable flags
mjNDISABLE = 19 // number of disable flags
} mjtDisableBit;