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Add private function mj_makeM.

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PiperOrigin-RevId: 757689756
Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
This commit is contained in:
Yuval Tassa
2025-05-12 03:51:31 -07:00
committed by Copybara-Service
parent 9accc7ae51
commit 85dd78d6f3
5 changed files with 22 additions and 15 deletions
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src/engine/engine_core_smooth.c
+8 -3
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@@ -1471,7 +1471,6 @@ void mj_transmission(const mjModel* m, mjData* d) {
// add tendon armature to qM
void mj_tendonArmature(const mjModel* m, mjData* d) {
TM_START;
int nv = m->nv, ntendon = m->ntendon, issparse = mj_isSparse(m);
for (int k=0; k < ntendon; k++) {
@@ -1521,14 +1520,12 @@ void mj_tendonArmature(const mjModel* m, mjData* d) {
}
}
}
TM_END(mjTIMER_POS_INERTIA);
}
// composite rigid body inertia algorithm
void mj_crb(const mjModel* m, mjData* d) {
TM_START;
mjtNum buf[6];
mjtNum* crb = d->crb;
int last_body = m->nbody - 1, nv = m->nv;
@@ -1574,6 +1571,14 @@ void mj_crb(const mjModel* m, mjData* d) {
d->qM[Madr_ij++] += mju_dot(d->cdof+6*j, buf, 6);
}
}
}
void mj_makeM(const mjModel* m, mjData* d) {
TM_START;
mj_crb(m, d);
mj_tendonArmature(m, d);
TM_END(mjTIMER_POS_INERTIA);
}