chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Implement midpoint integrator for free bodies.

Browse Source 
PiperOrigin-RevId: 899043541
Change-Id: I0bb38f6ad94e189b45ab16777a04ad6fefc6adf7
This commit is contained in:
Yuval Tassa
2026-04-13 09:37:51 -07:00
committed by Copybara-Service
parent d9b5d8babb
commit 0c337799bd
12 changed files with 913 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+7 -2
View File
@@ -27,8 +27,13 @@ General
(``jnt_stiffness``, ``dof_damping``, etc.) continue to hold the linear coefficient and are unchanged.
The polynomial order is defined by the new constant :ref:`mjNPOLY<glNumericSizes>`. A future breaking C-API change
may unify the linear and higher-order coefficients into a single array.
- Introduced :ref:`mjpEncoder`, the counterpart to :ref:`mjpDecoder` for encoding of :ref:`mjSpec` and :ref:`mjModel` into :ref:`mjResource`.
- Added :ref:`midpoint integration<geMidpoint>` for standalone free bodies in ``implicit`` and ``implicitfast``
:ref:`integrators<geIntegrators>`. This applies the implicit midpoint rule to the rotational dynamics of free bodies
with no children, exactly conserving kinetic energy and angular momentum in the absence of external torques. The
:ref:`invdiscrete<option-flag-invdiscrete>` flag now also disables midpoint integration, providing an opt-out
mechanism.
- Introduced :ref:`mjpEncoder`, the counterpart to :ref:`mjpDecoder` for encoding of :ref:`mjSpec` and :ref:`mjModel`
into :ref:`mjResource`.
- Added :ref:`mj_encode`, :ref:`mjp_registerEncoder`, :ref:`mjp_defaultEncoder`, and :ref:`mjp_findEncoder`.