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
@@ -511,11 +511,12 @@ const mjMap camlight_map[camlight_sz] = {


 // integrator type
-const int integrator_sz = 3;
+const int integrator_sz = 4;
 const mjMap integrator_map[integrator_sz] = {
-  {"Euler",       mjINT_EULER},
-  {"RK4",         mjINT_RK4},
-  {"implicit",    mjINT_IMPLICIT}
+  {"Euler",        mjINT_EULER},
+  {"RK4",          mjINT_RK4},
+  {"implicit",     mjINT_IMPLICIT},
+  {"implicitfast", mjINT_IMPLICITFAST}
 };