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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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src/engine/engine_forward.c
+12 -4
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@@ -52,7 +52,9 @@ void mj_checkPos(const mjModel* m, mjData* d) {
for (int i=0; i < m->nq; i++) {
if (mju_isBad(d->qpos[i])) {
mj_warning(d, mjWARN_BADQPOS, i);
mj_resetData(m, d);
if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
mj_resetData(m, d);
}
d->warning[mjWARN_BADQPOS].number++;
d->warning[mjWARN_BADQPOS].lastinfo = i;
return;
@@ -67,7 +69,9 @@ void mj_checkVel(const mjModel* m, mjData* d) {
for (int i=0; i < m->nv; i++) {
if (mju_isBad(d->qvel[i])) {
mj_warning(d, mjWARN_BADQVEL, i);
mj_resetData(m, d);
if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
mj_resetData(m, d);
}
d->warning[mjWARN_BADQVEL].number++;
d->warning[mjWARN_BADQVEL].lastinfo = i;
return;
@@ -82,10 +86,14 @@ void mj_checkAcc(const mjModel* m, mjData* d) {
for (int i=0; i < m->nv; i++) {
if (mju_isBad(d->qacc[i])) {
mj_warning(d, mjWARN_BADQACC, i);
mj_resetData(m, d);
if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
mj_resetData(m, d);
}
d->warning[mjWARN_BADQACC].number++;
d->warning[mjWARN_BADQACC].lastinfo = i;
mj_forward(m, d);
if (!(m->opt.disableflags & mjDSBL_AUTORESETNAN)) {
mj_forward(m, d);
}
return;
}
}