Improve pipeline documentation, expose mj_implicit function to public header.

PiperOrigin-RevId: 586380774 Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
2023-11-29 10:18:11 -08:00
parent 2f37147fc0
commit 822b03446c
8 changed files with 97 additions and 37 deletions
@@ -264,6 +264,9 @@ MJAPI void mj_Euler(const mjModel* m, mjData* d);
 // Runge-Kutta explicit order-N integrator.
 MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N);

+// Implicit-in-velocity integrators.
+MJAPI void mj_implicit(const mjModel* m, mjData* d);
+
 // Run position-dependent computations in inverse dynamics.
 MJAPI void mj_invPosition(const mjModel* m, mjData* d);