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
@@ -836,6 +836,7 @@ void mjXWriter::Option(XMLElement* root) {
    WRITEDSBL("refsafe",        mjDSBL_REFSAFE)
    WRITEDSBL("sensor",         mjDSBL_SENSOR)
    WRITEDSBL("midphase",       mjDSBL_MIDPHASE)
+    WRITEDSBL("eulerdamp",      mjDSBL_EULERDAMP)
 #undef WRITEDSBL

 #define WRITEENBL(NAME, MASK) \