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Improved behaviour of mouse-spring interactions.

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Also:

- Renamed recently introduced `mjvPerturb` member `reflocalpos` -> `refselpos` and corrected docstring.
- Added `mjvPerturb.localmass`: body spatial inertia at selection point.
- Removed `const` qualifier to `mjData` argument of `mjv_initPerturb()`, to facilitate spatial inertia computation.
- Improved `mj_Object{Velocity, Acceleration}` docstrings, clarifying that rotational velocities precede linear velocities.
- Removed redundant const qualifiers from non pointer arguments to `mju_dot` and `mju_writeNumBytes`.

PiperOrigin-RevId: 511002168
Change-Id: I27400f497947f330072d4abb7c9bf7e71e6c5d49
This commit is contained in:
Yuval Tassa
2023-02-20 08:39:53 -08:00
committed by Copybara-Service
parent 9756ed0d80
commit 7542c90cd2
15 changed files with 111 additions and 62 deletions
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doc/APIreference/functions.rst
+2 -2
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@@ -1029,7 +1029,7 @@ mj_objectVelocity
.. mujoco-include:: mj_objectVelocity
Compute object 6D velocity in object-centered frame, world/local orientation.
Compute object 6D velocity (rot:lin) in object-centered frame, world/local orientation.
.. _mj_objectAcceleration:
@@ -1038,7 +1038,7 @@ mj_objectAcceleration
.. mujoco-include:: mj_objectAcceleration
Compute object 6D acceleration in object-centered frame, world/local orientation.
Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation.
.. _mj_contactForce: