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Implement sleeping in engine

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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
This commit is contained in:
Yuval Tassa
2025-11-07 03:32:03 -08:00
committed by Copybara-Service
parent 1e0226d360
commit 769f37b653
55 changed files with 3602 additions and 677 deletions
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src/engine/engine_core_smooth.h
+10 -4
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@@ -24,6 +24,12 @@ extern "C" {
#endif
//-------------------------- position --------------------------------------------------------------
// forward kinematics part 1: bodies
void mj_kinematics1(const mjModel* m, mjData* d);
// forward kinematics part 2: body inertias, geoms and sites
void mj_kinematics2(const mjModel* m, mjData* d);
// forward kinematics
MJAPI void mj_kinematics(const mjModel* m, mjData* d);
@@ -61,9 +67,9 @@ MJAPI void mj_makeM(const mjModel* m, mjData* d);
MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
mjtNum* qLD, mjtNum* qLDiagInv);
// sparse L'*D*L factorizaton of inertia-like matrix
// sparse L'*D*L factorizaton of inertia-like matrix (only dofs in index, if given)
MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
const int* rownnz, const int* rowadr, const int* colind);
const int* rownnz, const int* rowadr, const int* colind, const int* index);
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
MJAPI void mj_factorM(const mjModel* m, mjData* d);
@@ -72,10 +78,10 @@ MJAPI void mj_factorM(const mjModel* m, mjData* d);
MJAPI void mj_solveLD_legacy(const mjModel* m, mjtNum* x, int n,
const mjtNum* qLD, const mjtNum* qLDiagInv);
// in-place sparse backsubstitution: x = inv(L'*D*L)*x
// in-place sparse backsubstitution (only dofs in index, if given): x = inv(L'*D*L)*x
// handle n vectors at once
MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
const int* rownnz, const int* rowadr, const int* colind);
const int* rownnz, const int* rowadr, const int* colind, const int* index);
// sparse backsubstitution: x = inv(L'*D*L)*y, use factorization in d
MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);