Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+//-------------------------- position --------------------------------------------------------------
+
+// forward kinematics
+MJAPI void mj_kinematics(const mjModel* m, mjData* d);
+
+// map inertias and motion dofs to global frame centered at CoM
+MJAPI void mj_comPos(const mjModel* m, mjData* d);
+
+// compute camera and light positions and orientations
+MJAPI void mj_camlight(const mjModel* m, mjData* d);
+
+// compute tendon lengths, velocities and moment arms
+MJAPI void mj_tendon(const mjModel* m, mjData* d);
+
+// compute actuator transmission lengths and moments
+MJAPI void mj_transmission(const mjModel* m, mjData* d);
+
+
+//-------------------------- inertia ---------------------------------------------------------------
+
+// composite rigid body inertia algorithm, with skip
+void mj_crbSkip(const mjModel* m, mjData* d, int skipsimple);
+
+// composite rigid body inertia algorithm
+MJAPI void mj_crb(const mjModel* m, mjData* d);
+
+// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
+MJAPI void mj_factorM(const mjModel* m, mjData* d);
+
+// sparse backsubstitution:  x = inv(L'*D*L)*y
+MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
+
+// half of sparse backsubstitution:  x = sqrt(inv(D))*inv(L')*y
+MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
+
+
+//-------------------------- velocity --------------------------------------------------------------
+
+// compute cvel, cdof_dot
+MJAPI void mj_comVel(const mjModel* m, mjData* d);
+
+// passive forces
+MJAPI void mj_passive(const mjModel* m, mjData* d);
+
+// subtree linear velocity and angular momentum
+MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);
+
+
+//------------------------- fluid model ------------------------------------------------------------
+
+
+void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i);
+
+void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid);
+
+// compute forces due to added mass (potential flow)
+void mj_addedMassForces(
+    const mjtNum local_vels[6], const mjtNum local_accels[6],
+    const mjtNum fluid_density, const mjtNum virtual_mass[3],
+    const mjtNum virtual_inertia[3], mjtNum local_force[6]);
+
+// compute forces due to viscous effects
+void mj_viscousForces(
+    const mjtNum local_vels[6], const mjtNum fluid_density,
+    const mjtNum fluid_viscosity, const mjtNum size[3],
+    const mjtNum magnus_lift_coef, const mjtNum kutta_lift_coef,
+    const mjtNum blunt_drag_coef, const mjtNum slender_drag_coef,
+    const mjtNum ang_drag_coef, mjtNum local_force[6]);
+
+void readFluidGeomInteraction(const mjtNum * geom_fluid_coefs,
+                              mjtNum * geom_fluid_coef,
+                              mjtNum * blunt_drag_coef,
+                              mjtNum * slender_drag_coef,
+                              mjtNum * ang_drag_coef,
+                              mjtNum * kutta_lift_coef,
+                              mjtNum * magnus_lift_coef,
+                              mjtNum virtual_mass[3],
+                              mjtNum virtual_inertia[3]);
+
+void writeFluidGeomInteraction (mjtNum * geom_fluid_coefs,
+                                const mjtNum * geom_fluid_coef,
+                                const mjtNum * blunt_drag_coef,
+                                const mjtNum * slender_drag_coef,
+                                const mjtNum * ang_drag_coef,
+                                const mjtNum * kutta_lift_coef,
+                                const mjtNum * magnus_lift_coef,
+                                const mjtNum virtual_mass[3],
+                                const mjtNum virtual_inertia[3]);
+
+
+//-------------------------- RNE -------------------------------------------------------------------
+
+// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term
+MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
+
+// RNE with complete data: compute cacc, cfrc_ext, cfrc_int
+MJAPI void mj_rnePostConstraint(const mjModel* m, mjData* d);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_H_