Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.

PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb

test/engine/engine_passive_test.cc

@@ -28,13 +28,51 @@ namespace {
 
 using ::testing::ElementsAre;
 using ::testing::NotNull;
-using CoreSmoothTest = MujocoTest;
 
-static std::vector<mjtNum> GetVector(const mjtNum* array, int length) {
-  return std::vector<mjtNum>(array, array + length);
+using PassiveTest = MujocoTest;
+
+TEST_F(PassiveTest, DisableFlags) {
+  static constexpr char flex_xml[] = R"(
+  <mujoco>
+    <option gravity="0 0 -10"/>
+    <worldbody>
+      <body gravcomp="1">
+        <joint type="slide" springref="1" stiffness="10" damping="1"/>
+        <geom size="1" mass="1"/>
+      </body>
+    </worldbody>
+
+    <keyframe>
+      <key qvel="-1"/>
+    </keyframe>
+  </mujoco>
+  )";
+
+  char error[1024];
+  mjModel* m = LoadModelFromString(flex_xml, error, sizeof(error));
+  ASSERT_THAT(m, testing::NotNull()) << error;
+  mjData* d = mj_makeData(m);
+  mj_resetDataKeyframe(m, d, 0);
+
+  mj_forward(m, d);
+  EXPECT_FLOAT_EQ(d->qacc[0], 11);
+
+  m->opt.disableflags = mjDSBL_DAMPER;
+  mj_forward(m, d);
+  EXPECT_FLOAT_EQ(d->qacc[0], 10);
+
+  m->opt.disableflags = mjDSBL_SPRING;
+  mj_forward(m, d);
+  EXPECT_FLOAT_EQ(d->qacc[0], 1);
+
+  m->opt.disableflags = mjDSBL_SPRING | mjDSBL_DAMPER;
+  mj_forward(m, d);
+  EXPECT_EQ(d->qacc[0], -10);
+
+  mj_deleteData(d);
+  mj_deleteModel(m);
 }
 
-
 // ------------------------ ellipsoid fluid model ------------------------------
 
 using EllipsoidFluidTest = MujocoTest;
@@ -132,9 +170,9 @@ TEST_F(EllipsoidFluidTest, DefaultsPropagate) {
   char error[1024];
   mjModel* model = LoadModelFromString(xml, error, sizeof(error));
   ASSERT_THAT(model, NotNull()) << error;
-  EXPECT_THAT(GetVector(model->geom_fluid, 6),
+  EXPECT_THAT(AsVector(model->geom_fluid, 6),
               ElementsAre(0, 0, 0, 0, 0, 0));
-  EXPECT_THAT(GetVector(model->geom_fluid + mjNFLUID, 6),
+  EXPECT_THAT(AsVector(model->geom_fluid + mjNFLUID, 6),
               ElementsAre(1, 2, 3, 4, 5, 6));
   mj_deleteModel(model);
 }

test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc

@@ -148,8 +148,10 @@ TEST_F(MjcPhysicsSceneTest, TestDefaults) {
   EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(LimitFlag, mjDSBL_LIMIT);
   EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ContactFlag,
                                                     mjDSBL_CONTACT);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(PassiveFlag,
-                                                    mjDSBL_PASSIVE);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(SpringFlag,
+                                                    mjDSBL_SPRING);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(DamperFlag,
+                                                    mjDSBL_DAMPER);
   EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(GravityFlag,
                                                     mjDSBL_GRAVITY);
   EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ClampCtrlFlag,

test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc

@@ -1052,7 +1052,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
           frictionloss="disable"
           limit="disable"
           contact="disable"
-          passive="disable"
+          spring="disable"
+          damper="disable"
           gravity="disable"
           clampctrl="disable"
           warmstart="disable"
@@ -1075,7 +1076,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
       MjcPhysicsTokens->mjcFlagFrictionloss,
       MjcPhysicsTokens->mjcFlagLimit,
       MjcPhysicsTokens->mjcFlagContact,
-      MjcPhysicsTokens->mjcFlagPassive,
+      MjcPhysicsTokens->mjcFlagSpring,
+      MjcPhysicsTokens->mjcFlagDamper,
       MjcPhysicsTokens->mjcFlagGravity,
       MjcPhysicsTokens->mjcFlagClampctrl,
       MjcPhysicsTokens->mjcFlagWarmstart,