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
@@ -56,7 +56,8 @@ const char* mjDISABLESTRING[mjNDISABLE] = {
  "Actuation",
  "Refsafe",
  "Sensor",
-  "Midphase"
+  "Midphase",
+  "Eulerdamp"
 };