Add flag for disabling implicit integration of joint damping in the Euler integrator.

PiperOrigin-RevId: 559398414 Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
2023-08-23 05:50:52 -07:00
parent 5f2a2a325c
commit b7cf479abe
13 changed files with 156 additions and 18 deletions
@@ -58,8 +58,9 @@ typedef enum mjtDisableBit_ {     // disable default feature bitflags
  mjDSBL_REFSAFE      = 1<<11,    // integrator safety: make ref[0]>=2*timestep
  mjDSBL_SENSOR       = 1<<12,    // sensors
  mjDSBL_MIDPHASE     = 1<<13,    // mid-phase collision filtering
+  mjDSBL_EULERDAMP    = 1<<14,    // implicit integration of joint damping in Euler integrator

-  mjNDISABLE          = 14        // number of disable flags
+  mjNDISABLE          = 15        // number of disable flags
 } mjtDisableBit;