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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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src/engine/engine_sensor.c
+4 -4
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@@ -1417,7 +1417,7 @@ void mj_energyPos(const mjModel* m, mjData* d) {
}
// add joint-level springs
if (!mjDISABLED(mjDSBL_PASSIVE)) {
if (!mjDISABLED(mjDSBL_SPRING)) {
for (int i=0; i < m->njnt; i++) {
stiffness = m->jnt_stiffness[i];
padr = m->jnt_qposadr[i];
@@ -1450,7 +1450,7 @@ void mj_energyPos(const mjModel* m, mjData* d) {
}
// add tendon-level springs
if (!mjDISABLED(mjDSBL_PASSIVE)) {
if (!mjDISABLED(mjDSBL_SPRING)) {
for (int i=0; i < m->ntendon; i++) {
stiffness = m->tendon_stiffness[i];
mjtNum length = d->ten_length[i];
@@ -1469,8 +1469,8 @@ void mj_energyPos(const mjModel* m, mjData* d) {
}
}
// add flex-level springs for dim=1 (dim>1 requires plugins)
if (!mjDISABLED(mjDSBL_PASSIVE)) {
// add flex-level springs for dim=1
if (!mjDISABLED(mjDSBL_SPRING)) {
for (int i=0; i < m->nflex; i++) {
stiffness = m->flex_edgestiffness[i];
if (m->flex_rigid[i] || stiffness == 0 || m->flex_dim[i] > 1) {