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
@@ -1253,7 +1253,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 type=PointerType(
                     inner_type=ValueType(name='mjtByte'),
                 ),
-                 doc='body is simple (has diagonal M)          (nbody x 1)',
+                 doc='1: diagonal M; 2: diag M, no rotations   (nbody x 1)',
             ),
             StructFieldDecl(
                 name='body_sameframe',