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PiperOrigin-RevId: 465885126
Change-Id: I7cb8854461cccf56e4f07ec7ae284a102928f9ee
This commit is contained in:
Yuval Tassa
2022-08-07 09:29:22 -07:00
committed by Copybara-Service
parent e96776c901
commit 50976a2a1f
1 changed files with 2 additions and 2 deletions
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src/engine/engine_forward.c
+2 -2
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@@ -643,8 +643,6 @@ void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
//-------------------------- top-level API ---------------------------------------------------------
// fully implicit in velocity, possibly skipping factorization // fully implicit in velocity, possibly skipping factorization
void mj_implicitSkip(const mjModel *m, mjData *d, int skipfactor) { void mj_implicitSkip(const mjModel *m, mjData *d, int skipfactor) {
int nv = m->nv; int nv = m->nv;
@@ -689,6 +687,8 @@ void mj_implicit(const mjModel *m, mjData *d) {
//-------------------------- top-level API ---------------------------------------------------------
// forward dynamics with skip; skipstage is mjtStage // forward dynamics with skip; skipstage is mjtStage
void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) { void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
TM_START; TM_START;