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Add a new disable flag mjDSBL_AUTORESETNAN.

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PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
This commit is contained in:
Saran Tunyasuvunakool
2024-07-22 03:21:09 -07:00
committed by Copybara-Service
parent d49d4bf64c
commit f62792594f
8 changed files with 31 additions and 11 deletions
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simulate/simulate.cc
+6
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@@ -739,12 +739,18 @@ void MakePhysicsSection(mj::Simulate* sim) {
for (int i=0; i<mjNDISABLE; i++) {
mju::strcpy_arr(defFlag[0].name, mjDISABLESTRING[i]);
defFlag[0].pdata = sim->disable + i;
if ((1 << i) == mjDSBL_AUTORESETNAN) {
defFlag[0].state = 0;
} else {
defFlag[0].state = 2;
}
mjui_add(&sim->ui0, defFlag);
}
mjui_add(&sim->ui0, defEnableFlags);
for (int i=0; i<mjNENABLE; i++) {
mju::strcpy_arr(defFlag[0].name, mjENABLESTRING[i]);
defFlag[0].pdata = sim->enable + i;
defFlag[0].state = 2;
mjui_add(&sim->ui0, defFlag);
}
// add contact override