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Add implicit integrator.

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Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
  - Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
  - Damping and fluid-drag passive forces.
  - Actuation forces.

A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost.

PiperOrigin-RevId: 450377010
Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
This commit is contained in:
DeepMind
2022-05-23 01:21:24 -07:00
committed by Copybara-Service
parent 1913a02b40
commit 64bc6d27b2
30 changed files with 1974 additions and 51 deletions
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sample/simulate.cc
+1 -1
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@@ -668,7 +668,7 @@ void makephysics(int oldstate) {
mjuiDef defPhysics[] = {
{mjITEM_SECTION, "Physics", oldstate, NULL, "AP"},
{mjITEM_SELECT, "Integrator", 2, &(m->opt.integrator), "Euler\nRK4"},
{mjITEM_SELECT, "Integrator", 2, &(m->opt.integrator), "Euler\nRK4\nimplicit"},
{mjITEM_SELECT, "Collision", 2, &(m->opt.collision), "All\nPair\nDynamic"},
{mjITEM_SELECT, "Cone", 2, &(m->opt.cone), "Pyramidal\nElliptic"},
{mjITEM_SELECT, "Jacobian", 2, &(m->opt.jacobian), "Dense\nSparse\nAuto"},