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

Add mju_mat2Rot.

Browse Source 
This function extracts the 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. It is based on the paper "A robust method to extract the rotational part of deformations" by Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin.

PiperOrigin-RevId: 700006006
Change-Id: I77550993233dea9cdf68601762a3ae7ded749bdf
This commit is contained in:
Alessio Quaglino
2024-11-25 09:17:26 -08:00
committed by Copybara-Service
parent e9a2f055f0
commit 7e46e21ef3
9 changed files with 151 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
unity/Runtime/Bindings/MjBindings.cs
+3
View File
@@ -7276,6 +7276,9 @@ public static unsafe extern void mju_quatIntegrate(double* quat, double* vel, do
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_quatZ2Vec(double* quat, double* vec);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mju_mat2Rot(double* quat, double* mat);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_euler2Quat(double* quat, double* euler, [MarshalAs(UnmanagedType.LPStr)]string seq);