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

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PiperOrigin-RevId: 485342531
Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
This commit is contained in:
Kyle Bayes
2022-11-01 09:47:13 -07:00
committed by Copybara-Service
parent c7960385be
commit 23092a11d7
18 changed files with 233 additions and 10 deletions
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src/user/user_objects.cc
+1
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@@ -326,6 +326,7 @@ mjCBody::mjCBody(mjCModel* _model) {
weldid = -1;
dofnum = 0;
lastdof = -1;
gravcomp = 0;
userdata.clear();
// plugin variables