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Fix frame accumulation order for <frame> meta-element.

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PiperOrigin-RevId: 588803425
Change-Id: Id0289c34d1a6cfb6007540a29cc1f32d879e43ed
This commit is contained in:
Alessio Quaglino
2023-12-07 08:35:46 -08:00
committed by Copybara-Service
parent d12fe594d9
commit 1db0a9946f
4 changed files with 82 additions and 45 deletions
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src/user/user_util.h
+11 -7
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@@ -104,16 +104,20 @@ void mjuu_z2quat(double* quat, const double* vec);
void mjuu_frame2quat(double* quat, const double* x, const double* y, const double* z);
// invert frame transformation
void mjuu_frameinvert(double* newpos, double* newquat,
const double* oldpos, const double* oldquat);
void mjuu_frameinvert(double newpos[3], double newquat[4],
const double oldpos[3], const double oldquat[4]);
// accumulate frame transformations
void mjuu_frameaccum(double* pos, double* quat,
const double* addpos, const double* addquat);
// accumulate frame transformation into parent frame
void mjuu_frameaccum(double pos[3], double quat[4],
const double childpos[3], const double childquat[4]);
// accumulate frame transformation into child frame
void mjuu_frameaccumChild(const double pos[3], const double quat[4],
double childpos[3], double childquat[4]);
// invert frame accumulation
void mjuu_frameaccuminv(double* pos, double* quat,
const double* addpos, const double* addquat);
void mjuu_frameaccuminv(double pos[3], double quat[4],
const double childpos[3], const double childquat[4]);
// convert local_inertia[3] to global_inertia[6]
void mjuu_globalinertia(double* global, const double* local, const double* quat);