chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add private function mj_mulM_island for mass matrix multiplication with sub indices corresponding to one island.

Browse Source 
PiperOrigin-RevId: 561639405
Change-Id: I3777cea51ef22f6847b3cf3e17bdac5cf621c019
This commit is contained in:
Yuval Tassa
2023-08-31 06:41:55 -07:00
committed by Copybara-Service
parent 129abc6bca
commit 9fd186ac2b
3 changed files with 114 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_support.h
+4
View File
@@ -108,6 +108,10 @@ MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M);
// multiply vector by inertia matrix
MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// multiply vector by inertia matrix for one dof island
MJAPI void mj_mulM_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
int island);
// multiply vector by (inertia matrix)^(1/2)
MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);