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
@@ -1285,6 +1285,7 @@ void mjCModel::CopyTree(mjModel* m) {
    copyvec(m->body_iquat+4*i, pb->lociquat, 4);
    m->body_mass[i] = (mjtNum)pb->mass;
    copyvec(m->body_inertia+3*i, pb->inertia, 3);
+    m->body_gravcomp[i] = pb->gravcomp;
    copyvec(m->body_user+nuser_body*i, pb->userdata.data(), nuser_body);

    // count free joints