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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/xml/xml_native_reader.cc
+4 -3
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@@ -118,8 +118,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"solver", "iterations", "ls_iterations", "noslip_iterations", "ccd_iterations",
"sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
{"<"},
{"flag", "?", "23", "constraint", "equality", "frictionloss", "limit", "contact",
"passive", "gravity", "clampctrl", "warmstart",
{"flag", "?", "24", "constraint", "equality", "frictionloss", "limit", "contact",
"spring", "damper", "gravity", "clampctrl", "warmstart",
"filterparent", "actuation", "refsafe", "sensor", "midphase", "eulerdamp", "autoreset",
"nativeccd", "island", "override", "energy", "fwdinv", "invdiscrete", "multiccd"},
{">"},
@@ -1187,7 +1187,8 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
READDSBL("frictionloss", mjDSBL_FRICTIONLOSS)
READDSBL("limit", mjDSBL_LIMIT)
READDSBL("contact", mjDSBL_CONTACT)
READDSBL("passive", mjDSBL_PASSIVE)
READDSBL("spring", mjDSBL_SPRING)
READDSBL("damper", mjDSBL_DAMPER)
READDSBL("gravity", mjDSBL_GRAVITY)
READDSBL("clampctrl", mjDSBL_CLAMPCTRL)
READDSBL("warmstart", mjDSBL_WARMSTART)