Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.

PiperOrigin-RevId: 576493532 Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
2023-10-25 05:00:51 -07:00
parent 190bfac2d6
commit a89412bb4a
8 changed files with 189 additions and 75 deletions
@@ -4849,6 +4849,10 @@ public unsafe struct mjData_ {
  public double* cvel;
  public double* cdof_dot;
  public double* qfrc_bias;
+  public double* qfrc_spring;
+  public double* qfrc_damper;
+  public double* qfrc_gravcomp;
+  public double* qfrc_fluid;
  public double* qfrc_passive;
  public double* subtree_linvel;
  public double* subtree_angmom;