Accelerate inertia computation for simple bodies.

PiperOrigin-RevId: 571411319 Change-Id: I82732e95795cc0f0645f8273a1b084f2a9187a75
2023-10-06 12:50:37 -07:00
parent df48624d0d
commit 77d0400733
6 changed files with 92 additions and 49 deletions
@@ -638,7 +638,7 @@ struct mjModel_ {
  int*      body_treeid;          // id of body's kinematic tree; -1: static  (nbody x 1)
  int*      body_geomnum;         // number of geoms                          (nbody x 1)
  int*      body_geomadr;         // start addr of geoms; -1: no geoms        (nbody x 1)
-  mjtByte*  body_simple;          // body is simple (has diagonal M)          (nbody x 1)
+  mjtByte*  body_simple;          // 1: diagonal M; 2: diag M, no rotations   (nbody x 1)
  mjtByte*  body_sameframe;       // inertial frame is same as body frame     (nbody x 1)
  mjtNum*   body_pos;             // position offset rel. to parent body      (nbody x 3)
  mjtNum*   body_quat;            // orientation offset rel. to parent body   (nbody x 4)