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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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test/engine/engine_passive_test.cc
+44 -6
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@@ -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);
}