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
@@ -151,7 +151,8 @@ public enum mjtDisableBit : int{
  mjDSBL_REFSAFE = 2048,
  mjDSBL_SENSOR = 4096,
  mjDSBL_MIDPHASE = 8192,
-  mjNDISABLE = 14,
+  mjDSBL_EULERDAMP = 16384,
+  mjNDISABLE = 15,
 }
 public enum mjtEnableBit : int{
  mjENBL_OVERRIDE = 1,