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

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PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
This commit is contained in:
Yuval Tassa
2023-08-23 05:50:52 -07:00
committed by Copybara-Service
parent 5f2a2a325c
commit b7cf479abe
13 changed files with 156 additions and 18 deletions
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src/engine/engine_forward.c
+8 -6
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@@ -593,16 +593,18 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
mjtNum* qfrc = mj_stackAlloc(d, nv);
mjtNum* qacc = mj_stackAlloc(d, nv);
// check for dof damping
// check for dof damping if disable flag is not set
int dof_damping = 0;
for (int i=0; i < nv; i++) {
if (m->dof_damping[i] > 0) {
dof_damping = 1;
break;
if (!mjDISABLED(mjDSBL_EULERDAMP)) {
for (int i=0; i < nv; i++) {
if (m->dof_damping[i] > 0) {
dof_damping = 1;
break;
}
}
}
// no damping: explicit velocity integration
// no damping or disabled: explicit velocity integration
if (!dof_damping) {
mju_copy(qacc, d->qacc, nv);
}