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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/user/user_model.cc
+1 -1
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@@ -2323,7 +2323,7 @@ void* LRfunc(void* arg) {
void mjCModel::LengthRange(mjModel* m, mjData* data) {
// save options and modify
mjOption saveopt = m->opt;
m->opt.disableflags = mjDSBL_FRICTIONLOSS | mjDSBL_CONTACT | mjDSBL_PASSIVE |
m->opt.disableflags = mjDSBL_FRICTIONLOSS | mjDSBL_CONTACT | mjDSBL_SPRING | mjDSBL_DAMPER |
mjDSBL_GRAVITY | mjDSBL_ACTUATION;
if (compiler.LRopt.timestep > 0) {
m->opt.timestep = compiler.LRopt.timestep;