Add private function mj_makeM.

PiperOrigin-RevId: 757689756 Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
2025-05-12 03:51:31 -07:00
parent 9accc7ae51
commit 85dd78d6f3
5 changed files with 22 additions and 15 deletions
@@ -54,6 +54,9 @@ MJAPI void mj_crb(const mjModel* m, mjData* d);
 // add tendon armature to qM
 MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);

+// make inertia matrix
+void mj_makeM(const mjModel* m, mjData* d);
+
 // sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd  (legacy implementation)
 MJAPI void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M,
                             mjtNum* qLD, mjtNum* qLDiagInv);