Expose mj_makeM as a sub-component.

PiperOrigin-RevId: 763662068 Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:33:27 -07:00
parent 4a102c37bc
commit 89e39dc0a7
12 changed files with 58 additions and 10 deletions
@@ -364,6 +364,9 @@ MJAPI void mj_transmission(const mjModel* m, mjData* d);
 // Run composite rigid body inertia algorithm (CRB).
 MJAPI void mj_crb(const mjModel* m, mjData* d);

+// Make inertia matrix.
+MJAPI void mj_makeM(const mjModel* m, mjData* d);
+
 // Compute sparse L'*D*L factorizaton of inertia matrix.
 MJAPI void mj_factorM(const mjModel* m, mjData* d);