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Remove uses of mjtNum-typed functions from user_objects.cc

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PiperOrigin-RevId: 662026275
Change-Id: Idfb2b6ced6eac4b4b60079e219aac63fc1d00b89
This commit is contained in:
Yuval Tassa
2024-08-12 03:44:49 -07:00
committed by Copybara-Service
parent 02ffaa8248
commit d45d13e5ad
1 changed files with 7 additions and 5 deletions
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src/user/user_objects.cc
+7 -5
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@@ -2117,10 +2117,10 @@ double mjCGeom::GetVolume() const {
// Thomsen approximation
// https://www.numericana.com/answer/ellipsoid.htm#thomsen
double p = 1.6075;
double tmp = mju_pow(size[0] * size[1], p) +
mju_pow(size[1] * size[2], p) +
mju_pow(size[2] * size[0], p);
return 4 * mjPI * mju_pow(tmp / 3, 1 / p);
double tmp = std::pow(size[0] * size[1], p) +
std::pow(size[1] * size[2], p) +
std::pow(size[2] * size[0], p);
return 4 * mjPI * std::pow(tmp / 3, 1 / p);
break;
}
case mjINERTIA_VOLUME:
@@ -2314,7 +2314,9 @@ void mjCGeom::SetInertia(void) {
inertia_b[2] = mass_b * (ae * ae + be * be) / 5;
// shell inertia
mju_sub3(inertia, inertia_b, inertia_a);
inertia[0] = inertia_b[0] - inertia_a[0];
inertia[1] = inertia_b[1] - inertia_a[1];
inertia[2] = inertia_b[2] - inertia_a[2];
return;
break;
}