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Break out passive force functions into a new file engine_passive.c

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PiperOrigin-RevId: 513834952
Change-Id: I5347440f24d767a7dc81a34e48e1e17d8c10173f
This commit is contained in:
Yuval Tassa
2023-03-03 08:31:35 -08:00
committed by Copybara-Service
parent fd1070cf03
commit 222ee00a66
13 changed files with 832 additions and 723 deletions
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src/engine/engine_core_smooth.h
-46
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@@ -71,56 +71,10 @@ MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, i
// 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 ------------------------------------------------------------
// fluid forces based on inertia-box approximation
void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i);
// fluid forces based on ellipsoid approximation
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