chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.

Browse Source 
These functions names and argument ordering are more consistent with the rest of the API.

PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
This commit is contained in:
Yuval Tassa
2024-06-16 10:01:31 -07:00
committed by Copybara-Service
parent 739512a0e4
commit 6067048537
33 changed files with 233 additions and 117 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_setconst.c
+2 -2
View File
@@ -291,7 +291,7 @@ static void set0(mjModel* m, mjData* d) {
// data[3-5] = anchor position in body2 local frame
mju_subFrom3(pos, d->xpos+3*id2);
mju_rotVecMatT(m->eq_data+mjNEQDATA*i+3, pos, d->xmat+9*id2);
mju_mulMatTVec3(m->eq_data+mjNEQDATA*i+3, d->xmat+9*id2, pos);
}
// weld constraint
@@ -311,7 +311,7 @@ static void set0(mjModel* m, mjData* d) {
// data[3-5] = anchor position in body1 local frame
mju_subFrom3(pos, d->xpos+3*id1);
mju_rotVecMatT(m->eq_data+mjNEQDATA*i+3, pos, d->xmat+9*id1);
mju_mulMatTVec3(m->eq_data+mjNEQDATA*i+3, d->xmat+9*id1, pos);
// data[6-9] = neg(xquat1)*xquat2 = "xquat2-xquat1" in body1 local frame
mju_negQuat(quat, d->xquat+4*id1);