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New implicitfast integrator and sparse RNE derivatives for implicit.

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PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
This commit is contained in:
Yuval Tassa
2023-03-15 13:16:45 -07:00
committed by Copybara-Service
parent 056e849273
commit 8c7f6ce5a0
23 changed files with 961 additions and 332 deletions
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simulate/simulate.cc
+1 -1
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@@ -547,7 +547,7 @@ void makephysics(mj::Simulate* sim, int oldstate) {
mjuiDef defPhysics[] = {
{mjITEM_SECTION, "Physics", oldstate, nullptr, "AP"},
{mjITEM_SELECT, "Integrator", 2, &(opt.integrator), "Euler\nRK4\nimplicit"},
{mjITEM_SELECT, "Integrator", 2, &(opt.integrator), "Euler\nRK4\nimplicit\nimplicitfast"},
{mjITEM_SELECT, "Collision", 2, &(opt.collision), "All\nPair\nDynamic"},
{mjITEM_SELECT, "Cone", 2, &(opt.cone), "Pyramidal\nElliptic"},
{mjITEM_SELECT, "Jacobian", 2, &(opt.jacobian), "Dense\nSparse\nAuto"},