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Add Flex component.

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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
2023-10-12 10:15:46 +01:00
committed by Saran Tunyasuvunakool
parent 649a474788
commit 5a70ad08ab
82 changed files with 9658 additions and 1581 deletions
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src/engine/engine_forward.c
+11 -2
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@@ -127,6 +127,7 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
mj_kinematics(m, d);
mj_comPos(m, d);
mj_camlight(m, d);
mj_flex(m, d);
mj_tendon(m, d);
TM_END(mjTIMER_POS_KINEMATICS);
@@ -182,6 +183,14 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
void mj_fwdVelocity(const mjModel* m, mjData* d) {
TM_START;
// flexedge velocity: dense or sparse
if (mj_isSparse(m)) {
mju_mulMatVecSparse(d->flexedge_velocity, d->flexedge_J, d->qvel, m->nflexedge,
d->flexedge_J_rownnz, d->flexedge_J_rowadr, d->flexedge_J_colind, NULL);
} else {
mju_mulMatVec(d->flexedge_velocity, d->flexedge_J, d->qvel, m->nflexedge, m->nv);
}
// tendon velocity: dense or sparse
if (mj_isSparse(m)) {
mju_mulMatVecSparse(d->ten_velocity, d->ten_J, d->qvel, m->ntendon,
@@ -190,10 +199,10 @@ void mj_fwdVelocity(const mjModel* m, mjData* d) {
mju_mulMatVec(d->ten_velocity, d->ten_J, d->qvel, m->ntendon, m->nv);
}
// actuator velocity
// actuator velocity: always dense
mju_mulMatVec(d->actuator_velocity, d->actuator_moment, d->qvel, m->nu, m->nv);
// standard velocity computations
// com-based velocities, passive forces, constraint references
mj_comVel(m, d);
mj_passive(m, d);
mj_referenceConstraint(m, d);