Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/engine/engine_solver.h

@@ -0,0 +1,34 @@
+// 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_SOLVER_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+
+
+// PGS solver
+void mj_solPGS(const mjModel* m, mjData* d, int maxiter);
+
+// No Slip solver (modified PGS)
+void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter);
+
+// CG solver
+void mj_solCG(const mjModel* m, mjData* d, int maxiter);
+
+// Newton solver
+void mj_solNewton(const mjModel* m, mjData* d, int maxiter);
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_