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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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test/engine/CMakeLists.txt
+3
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@@ -21,6 +21,9 @@ target_link_libraries(engine_collision_driver_test fixture gmock)
mujoco_test(engine_core_smooth_test)
target_link_libraries(engine_core_smooth_test fixture gmock)
mujoco_test(engine_derivative_test)
target_link_libraries(engine_derivative_test fixture gmock)
mujoco_test(engine_forward_test)
target_link_libraries(engine_forward_test fixture gmock)