New implicitfast integrator and sparse RNE derivatives for implicit.

PiperOrigin-RevId: 516910733 Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:16:45 -07:00
parent 056e849273
commit 8c7f6ce5a0
23 changed files with 961 additions and 332 deletions
@@ -125,7 +125,8 @@ typedef enum mjtTexture_ {        // type of texture
 typedef enum mjtIntegrator_ {     // integrator mode
  mjINT_EULER         = 0,        // semi-implicit Euler
  mjINT_RK4,                      // 4th-order Runge Kutta
-  mjINT_IMPLICIT                  // implicit in velocity
+  mjINT_IMPLICIT,                 // implicit in velocity
+  mjINT_IMPLICITFAST              // implicit in velocity, no rne derivative
 } mjtIntegrator;


@@ -583,7 +584,8 @@ struct mjModel_ {

  // sizes set after mjModel construction (only affect mjData)
  int nM;                         // number of non-zeros in sparse inertia matrix
-  int nD;                         // number of non-zeros in sparse derivative matrix
+  int nD;                         // number of non-zeros in sparse dof-dof matrix
+  int nB;                         // number of non-zeros in sparse body-dof matrix
  int nemax;                      // number of potential equality-constraint rows
  int njmax;                      // number of available rows in constraint Jacobian
  int nconmax;                    // number of potential contacts in contact list