Fix bug in muscle length-gain curve. Fixes #1342

PiperOrigin-RevId: 599165049 Change-Id: Ic5ef77b4349a8a9c343eacfd781195bfebea9aca
2024-01-17 07:19:11 -08:00
parent 67a00a3a51
commit a14a584f1d
5 changed files with 47 additions and 38 deletions
@@ -33,6 +33,9 @@ mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1,
                const mjtNum* xpos, const mjtNum* xmat, const mjtNum* size,
                int type, const mjtNum* side);

+// normalized muscle length-gain curve
+MJAPI mjtNum mju_muscleGainLength(mjtNum length, mjtNum lmin, mjtNum lmax);
+
 // muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax)
 MJAPI mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
                            mjtNum acc0, const mjtNum prm[9]);