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
@@ -1946,6 +1946,7 @@ public unsafe struct mjModel_ {
  public double* body_subtreemass;
  public double* body_inertia;
  public double* body_invweight0;
+  public double* body_gravcomp;
  public double* body_user;
  public int* body_plugin;
  public int* jnt_type;