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Apply unsymmetrized fluid derivatives to standalone free bodies in implicitfast.

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PiperOrigin-RevId: 948899583
Change-Id: Icfb5a713f89a94e597c7607e9aa10a9e151dc2aa
This commit is contained in:
Yuval Tassa
2026-07-16 04:47:07 -07:00
committed by Copybara-Service
parent eeda4d0984
commit a77dff84a4
4 changed files with 88 additions and 52 deletions
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src/engine/engine_derivative.h
+4 -2
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@@ -43,9 +43,11 @@ MJAPI void mjd_passive_vel(const mjModel* m, mjData* d);
// subtract (d qfrc_bias / d qvel) from qDeriv (dense version)
MJAPI void mjd_rne_vel_dense(const mjModel* m, mjData* d);
// return 1 if body is a standalone free body: a free joint with no children
mjtBool mj_isFreeBody(const mjModel* m, int body);
// 6x6 block B = d qfrc_bias / d qvel for the free joint of a standalone body
MJAPI void mjd_freeBias_vel(const mjModel* m, const mjData* d, int jnt,
mjtNum B[36]);
MJAPI void mjd_freeBias_vel(const mjModel* m, const mjData* d, int jnt, mjtNum B[36]);
// 6x6 block A = M - h * (d qfrc_smooth / d qvel) for the free joint of a standalone body
// returns 1 and writes A if jnt is the free joint of a standalone awake body, 0 otherwise