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Version 2.1.4: Switch to GLAD, minor improvements to simulate.

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PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
This commit is contained in:
Saran Tunyasuvunakool
2022-04-04 13:53:21 +01:00
parent 3c71720d83
commit 90dea1bdfb
23 changed files with 270 additions and 298 deletions
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doc/APIreference.rst
+14 -14
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@@ -2437,7 +2437,7 @@ mjrContext
int charHeightBig; // character heights: big
// capabilities
int glewInitialized; // is glew initialized
int glInitialized; // is OpenGL initialized
int windowAvailable; // is default/window framebuffer available
int windowSamples; // number of samples for default/window framebuffer
int windowStereo; // is stereo available for default/window framebuffer
@@ -2905,11 +2905,11 @@ mjcb_control
fields, their values do not correspond to the current time step.
| The control callback is called from within :ref:`mj_forward` and :ref:`mj_step`, just before the controls and applied
forces are needed. When using the RK integrator, it will be called 4 times per step. The alternative way of specifying
controls and applied forces is to set them before mj_step, or use mj_step1 and mj_step2. The latter approach allows
setting the controls after the position and velocity computations have been performed by mj_step1, allowing these
results to be utilized in computing the control (similar to using mjcb_control). However, the only way to change the
controls between sub-steps of the RK integrator is to define the control callback.
forces are needed. When using the RK integrator, it will be called 4 times per step. The alternative way of specifying
controls and applied forces is to set them before ``mj_step``, or use ``mj_step1`` and ``mj_step2``. The latter approach
allows setting the controls after the position and velocity computations have been performed by ``mj_step1``, allowing
these results to be utilized in computing the control (similar to using mjcb_control). However, the only way to change
the controls between sub-steps of the RK integrator is to define the control callback.
.. _mjcb_contactfilter:
@@ -3411,15 +3411,15 @@ Print internal XML schema as plain text or HTML, with style-padding or `` `
Main simulation
^^^^^^^^^^^^^^^
| These are the main entry points to the simulator. Most users will only need to call mj_step, which computes everything
and advanced the simulation state by one time step. Controls and applied forces must either be set in advance (in
mjData.ctrl, qfrc_applied and xfrc_applied), or a control callback mjcb_control must be installed which will be called
just before the controls and applied forces are needed. Alternatively, one can use mj_step1 and mj_step2 which break
down the simulation pipeline into computations that are executed before and after the controls are needed; in this way
one can set controls that depend on the results from mj_step1. Keep in mind though that the RK4 solver does not work
with mj_step1/2.
| These are the main entry points to the simulator. Most users will only need to call ``mj_step``, which computes
everything and advanced the simulation state by one time step. Controls and applied forces must either be set in advance
(in mjData.ctrl, qfrc_applied and xfrc_applied), or a control callback mjcb_control must be installed which will be
called just before the controls and applied forces are needed. Alternatively, one can use ``mj_step1`` and ``mj_step2``
which break down the simulation pipeline into computations that are executed before and after the controls are needed;
in this way one can set controls that depend on the results from ``mj_step1``. Keep in mind though that the RK4 solver
does not work with mj_step1/2.
| mj_forward performs the same computations as mj_step but without the integration. It is useful after loading or
| mj_forward performs the same computations as ``mj_step`` but without the integration. It is useful after loading or
resetting a model (to put the entire mjData in a valid state), and also for out-of-order computations that involve
sampling or finite-difference approximations.