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
@@ -186,6 +186,7 @@ class mjCBody : public mjCBase {
  double iquat[4];                // inertial frame orientation
  double mass;                    // mass
  double inertia[3];              // diagonal inertia (in i-frame)
+  double gravcomp;                // gravity compensation
  std::vector<double> userdata;   // user data
  mjCAlternative alt;             // alternative orientation specification
  mjCAlternative ialt;            // alternative for inertial frame