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

Narrow some includes in src/user/

Browse Source 
PiperOrigin-RevId: 734389490
Change-Id: I2834aadbbb38b396536e467c0dfea11dcc21972f
This commit is contained in:
Yuval Tassa
2025-03-06 20:44:28 -08:00
committed by Copybara-Service
parent e04e0e5c3d
commit 109a223cf6
7 changed files with 6 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_util.cc
+3 -3
View File
@@ -530,9 +530,9 @@ void mjuu_offcenter(double* res, const double mass, const double* vec) {
void mjuu_visccoef(double* visccoef, double mass, const double* inertia, double scl) {
// compute equivalent box
double ebox[3];
ebox[0] = sqrt(mjMAX(mjEPS, (inertia[1] + inertia[2] - inertia[0])) / mass * 6.0);
ebox[1] = sqrt(mjMAX(mjEPS, (inertia[0] + inertia[2] - inertia[1])) / mass * 6.0);
ebox[2] = sqrt(mjMAX(mjEPS, (inertia[0] + inertia[1] - inertia[2])) / mass * 6.0);
ebox[0] = sqrt(std::max(mjEPS, (inertia[1] + inertia[2] - inertia[0])) / mass * 6.0);
ebox[1] = sqrt(std::max(mjEPS, (inertia[0] + inertia[2] - inertia[1])) / mass * 6.0);
ebox[2] = sqrt(std::max(mjEPS, (inertia[0] + inertia[1] - inertia[2])) / mass * 6.0);
// apply formula for box (or rather cross) viscosity