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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_support.h
+4
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@@ -89,6 +89,10 @@ MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int g
MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
const mjtNum* qpos1, const mjtNum* qpos2);
// integrate qpos with given qvel for given body indices
MJAPI void mj_integratePosInd(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt,
const int* index, int nbody);
// integrate position with given velocity
MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);