chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Implement sleeping in engine

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_solve.h
+5 -4
View File
@@ -78,14 +78,15 @@ MJAPI void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
// address of diagonal element i in band-dense matrix representation
MJAPI int mju_bandDiag(int i, int ntotal, int nband, int ndense);
// sparse reverse-order LU factorization, no fill-in (assuming tree topology)
// sparse reverse-order LU factorization, assume tree topology (only dofs in index, if given)
// LU = L + U; original = (U+I) * L; scratch is size n
void mju_factorLUSparse(mjtNum *LU, int n, int* scratch,
const int *rownnz, const int *rowadr, const int *colind);
const int *rownnz, const int *rowadr, const int *colind, const int *index);
// solve mat*res=vec given LU factorization of mat
// solve mat*res=vec given LU factorization of mat (only dofs in index, if given)
void mju_solveLUSparse(mjtNum *res, const mjtNum *LU, const mjtNum* vec, int n,
const int *rownnz, const int *rowadr, const int* diag, const int *colind);
const int *rownnz, const int *rowadr, const int* diag, const int *colind,
const int *index);
// eigenvalue decomposition of symmetric 3x3 matrix
MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);