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This commit is contained in:
Vyankatesh
2024-02-26 12:03:42 +05:30
parent 41e41b538d
commit 063edf5a09
1 changed files with 62 additions and 61 deletions
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src/engine/engine_support.c
+62 -61
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@@ -776,71 +776,72 @@ int mj_jacSum(const mjModel* m, mjData* d, int* chain,
// compute subtree angular momentum matrix // compute subtree angular momentum matrix
void mj_subtreeAngMomMat(const mjModel *m, mjData *d, mjtNum *agm, int body) void mj_subtreeAngMomMat(const mjModel *m, mjData *d, mjtNum *agm, int body) {
{ int nv = m->nv;
int nv = m->nv; mj_markStack(d);
mj_markStack(d); mjtNum* jacp_b = mj_stackAllocNum(d, 3*nv);
mjtNum* jacp_b = mj_stackAllocNum(d, 3*nv); mjtNum* jacr_b = mj_stackAllocNum(d, 3*nv);
mjtNum* jacr_b = mj_stackAllocNum(d, 3*nv); mjtNum r_com_b[3];
mjtNum r_com_b[3]; mjtNum R_com_b[9];
mjtNum R_com_b[9]; mjtNum r_com[3];
mjtNum r_com[3]; mjtNum Ib[9];
mjtNum Ib[9]; mjtNum Xbcom[9];
mjtNum Xbcom[9]; mjtNum temp1[9];
mjtNum temp1[9]; mjtNum temp2[9];
mjtNum temp2[9]; mjtNum* term1 = mj_stackAllocNum(d, 3*nv);
mjtNum* term1 = mj_stackAllocNum(d, 3*nv); mjtNum* term2 = mj_stackAllocNum(d, 3*nv);
mjtNum* term2 = mj_stackAllocNum(d, 3*nv);
// clear output and other matrices // clear output and other matrices
mju_zero(agm, 3*nv); mju_zero(agm, 3*nv);
mju_zero(R_com_b, 9); mju_zero(R_com_b, 9);
mju_zero(Ib, 9); mju_zero(Ib, 9);
// save the location of the subtree COM // save the location of the subtree COM
mju_copy3(r_com, d->subtree_com+3*body); mju_copy3(r_com, d->subtree_com+3*body);
for (int b=body; b < m->nbody; b++) { for (int b=body; b < m->nbody; b++) {
// end of body subtree, break from the loop // end of body subtree, break from the loop
if (b > body && m->body_parentid[b] < body) { if (b > body && m->body_parentid[b] < body) {
break; break;
}
// linear and angular velocity Jacobian of the body COM (inertial frame)
mj_jacBodyCom(m, d, jacp_b, jacr_b, b);
// orientation of the COM (intertial) frame of b-th body
mju_copy(Xbcom, d->ximat+9*b, 9);
// save the inertia matrix of b-th body
Ib[0] = m->body_inertia[3*b]; // Ib(1,1)
Ib[4] = m->body_inertia[3*b+1]; // Ib(2,2)
Ib[8] = m->body_inertia[3*b+2]; // Ib(3,3)
// compute the body angular momentum about self COM in world frame
mju_mulMatMat(temp1, Xbcom, Ib, 3, 3, 3); // Xbcom*Ib
mju_mulMatMatT(temp2, temp1, Xbcom, 3, 3, 3); // Xbcom*Ib*Xbcom^T
mju_mulMatMat(term1, temp2, jacr_b, 3, 3, nv); // Xbcom*Ib*Xbcom^T*Jr
// compute the location of body COM w.r.t. subtree COM
mju_sub3(r_com_b, (d->xipos+3*b), r_com);
// skew symm matrix representing r_com_b vector
R_com_b[1] = -r_com_b[2];
R_com_b[2] = r_com_b[1];
R_com_b[3] = r_com_b[2];
R_com_b[5] = -r_com_b[0];
R_com_b[6] = -r_com_b[1];
R_com_b[7] = r_com_b[0];
// moment of linear momentum
mju_mulMatMat(term2, R_com_b, jacp_b, 3, 3, nv); // R_com_b*Jp
mju_scl(term2, term2, m->body_mass[b], 3 * nv); // R_com_b*Jp*mi
// amg += Xbcom*Ib*Xbcom^T*Jr + R_com_b*Jp*m
mju_addTo(agm, term1, 3*nv);
mju_addTo(agm, term2, 3*nv);
} }
// linear and angular velocity Jacobian of the body COM (inertial frame)
mj_jacBodyCom(m, d, jacp_b, jacr_b, b);
// orientation of the COM (intertial) frame of b-th body
mju_copy(Xbcom, d->ximat+9*b, 9);
// save the inertia matrix of b-th body
Ib[0] = m->body_inertia[3*b]; // Ib(1,1)
Ib[4] = m->body_inertia[3*b+1]; // Ib(2,2)
Ib[8] = m->body_inertia[3*b+2]; // Ib(3,3)
// compute the body angular momentum about self COM in world frame
mju_mulMatMat(temp1, Xbcom, Ib, 3, 3, 3); // Xbcom*Ib
mju_mulMatMatT(temp2, temp1, Xbcom, 3, 3, 3); // Xbcom*Ib*Xbcom^T
mju_mulMatMat(term1, temp2, jacr_b, 3, 3, nv); // Xbcom*Ib*Xbcom^T*Jr
// compute the location of body COM w.r.t. subtree COM
mju_sub3(r_com_b, (d->xipos+3*b), r_com);
// skew symm matrix representing r_com_b vector
R_com_b[1] = -r_com_b[2];
R_com_b[2] = r_com_b[1];
R_com_b[3] = r_com_b[2];
R_com_b[5] = -r_com_b[0];
R_com_b[6] = -r_com_b[1];
R_com_b[7] = r_com_b[0];
// moment of linear momentum
mju_mulMatMat(term2, R_com_b, jacp_b, 3, 3, nv); // R_com_b*Jp
mju_scl(term2, term2, m->body_mass[b], 3 * nv); // R_com_b*Jp*mi
// amg += Xbcom*Ib*Xbcom^T*Jr + R_com_b*Jp*m
mju_addTo(agm, term1, 3*nv);
mju_addTo(agm, term2, 3*nv);
}
mj_freeStack(d);
} }