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
@@ -1829,6 +1829,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
         ),
         doc='Run composite rigid body inertia algorithm (CRB).',
     )),
+    ('mj_makeM',
+     FunctionDecl(
+         name='mj_makeM',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+         ),
+         doc='Make inertia matrix.',
+     )),
    ('mj_factorM',
     FunctionDecl(
         name='mj_factorM',