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
@@ -209,7 +209,9 @@ class mjCBody : public mjCBase {
  int mocapid;                    // mocap id, -1: not mocap
  bool explicitinertial;          // whether to save the body with an explicit inertial clause

-  int lastdof;                    // id of last dof (used by compiler)
+  // used internally by compiler
+  int lastdof;                    // id of last dof
+  int subtreedofs;                // number of dofs in subtree, including self

  // objects allocated by Add functions
  std::vector<mjCBody*>    bodies;     // child bodies