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
@@ -120,6 +120,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjINT_EULER', 0),
             ('mjINT_RK4', 1),
             ('mjINT_IMPLICIT', 2),
+             ('mjINT_IMPLICITFAST', 3),
         ]),
     )),
    ('mjtCollision',