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

PiperOrigin-RevId: 513834952 Change-Id: I5347440f24d767a7dc81a34e48e1e17d8c10173f
2023-03-03 08:31:35 -08:00
parent fd1070cf03
commit 222ee00a66
13 changed files with 832 additions and 723 deletions
@@ -0,0 +1,79 @@
+// 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_PASSIVE_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//------------------------- passive forces ---------------------------------------------------------
+
+// all passive forces
+MJAPI void mj_passive(const mjModel* m, mjData* d);
+
+
+//------------------------- fluid models -----------------------------------------------------------
+
+// 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],
+    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], mjtNum fluid_density,
+    mjtNum fluid_viscosity, const mjtNum size[3],
+    mjtNum magnus_lift_coef, mjtNum kutta_lift_coef,
+    mjtNum blunt_drag_coef, mjtNum slender_drag_coef,
+    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]);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_