Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.

PiperOrigin-RevId: 800870384 Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:05:18 -07:00
parent 0eea5d6dbd
commit b092563cab
39 changed files with 455 additions and 289 deletions
@@ -167,20 +167,21 @@ public enum mjtDisableBit : int{
  mjDSBL_FRICTIONLOSS = 4,
  mjDSBL_LIMIT = 8,
  mjDSBL_CONTACT = 16,
-  mjDSBL_PASSIVE = 32,
-  mjDSBL_GRAVITY = 64,
-  mjDSBL_CLAMPCTRL = 128,
-  mjDSBL_WARMSTART = 256,
-  mjDSBL_FILTERPARENT = 512,
-  mjDSBL_ACTUATION = 1024,
-  mjDSBL_REFSAFE = 2048,
-  mjDSBL_SENSOR = 4096,
-  mjDSBL_MIDPHASE = 8192,
-  mjDSBL_EULERDAMP = 16384,
-  mjDSBL_AUTORESET = 32768,
-  mjDSBL_NATIVECCD = 65536,
-  mjDSBL_ISLAND = 131072,
-  mjNDISABLE = 18,
+  mjDSBL_SPRING = 32,
+  mjDSBL_DAMPER = 64,
+  mjDSBL_GRAVITY = 128,
+  mjDSBL_CLAMPCTRL = 256,
+  mjDSBL_WARMSTART = 512,
+  mjDSBL_FILTERPARENT = 1024,
+  mjDSBL_ACTUATION = 2048,
+  mjDSBL_REFSAFE = 4096,
+  mjDSBL_SENSOR = 8192,
+  mjDSBL_MIDPHASE = 16384,
+  mjDSBL_EULERDAMP = 32768,
+  mjDSBL_AUTORESET = 65536,
+  mjDSBL_NATIVECCD = 131072,
+  mjDSBL_ISLAND = 262144,
+  mjNDISABLE = 19,
 }
 public enum mjtEnableBit : int{
  mjENBL_OVERRIDE = 1,