Add per-body gravity compensation (buoyancy) passive force.

PiperOrigin-RevId: 485342531 Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
2022-11-01 09:47:13 -07:00
parent c7960385be
commit 23092a11d7
18 changed files with 233 additions and 10 deletions
@@ -631,6 +631,7 @@ struct mjModel_ {
  mjtNum*   body_subtreemass;     // mass of subtree starting at this body    (nbody x 1)
  mjtNum*   body_inertia;         // diagonal inertia in ipos/iquat frame     (nbody x 3)
  mjtNum*   body_invweight0;      // mean inv inert in qpos0 (trn, rot)       (nbody x 2)
+  mjtNum*   body_gravcomp;        // antigravity force, units of body weight  (nbody x 1)
  mjtNum*   body_user;            // user data                                (nbody x nuser_body)
  int*      body_plugin;          // plugin instance id (-1 if not in use)    (nbody x 1)

@@ -170,6 +170,7 @@
    X( mjtNum,  body_subtreemass,      nbody,         1                    ) \
    X( mjtNum,  body_inertia,          nbody,         3                    ) \
    X( mjtNum,  body_invweight0,       nbody,         2                    ) \
+    X( mjtNum,  body_gravcomp,         nbody,         1                    ) \
    X( mjtNum,  body_user,             nbody,         MJ_M(nuser_body)     ) \
    X( int,     body_plugin,           nbody,         1                    ) \
    X( int,     jnt_type,              njnt,          1                    ) \