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Add mj_jacDot: Time derivative of kinematic Jacobian.

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PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
This commit is contained in:
Yuval Tassa
2024-09-03 04:48:44 -07:00
committed by Copybara-Service
parent fb38727303
commit 2d3d5415b7
12 changed files with 363 additions and 37 deletions
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unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -6715,6 +6715,9 @@ public static unsafe extern void mj_jacSite(mjModel_* m, mjData_* d, double* jac
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_jacPointAxis(mjModel_* m, mjData_* d, double* jacPoint, double* jacAxis, double* point, double* axis, int body);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_jacDot(mjModel_* m, mjData_* d, double* jacp, double* jacr, double* point, int body);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_angmomMat(mjModel_* m, mjData_* d, double* mat, int body);