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Add internal functions for 3x3 matmul.

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PiperOrigin-RevId: 616749614
Change-Id: I7f3ac2ffc826076b6c97424324f03ecd9ccd4655
This commit is contained in:
Yuval Tassa
2024-03-18 01:42:58 -07:00
committed by Copybara-Service
parent 398fd108b4
commit dd2580e546
8 changed files with 97 additions and 11 deletions
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src/engine/engine_derivative.c
+1 -1
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@@ -251,7 +251,7 @@ void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db
// add term linear in K * K
mjtNum KK[9];
mju_mulMatMat(KK, K, K, 3, 3, 3);
mju_mulMatMat3(KK, K, K);
mjtNum coef = 1.0 - (half_angle < 6e-8 ? 1.0 : half_angle / mju_tan(half_angle));
mju_addToScl(Da_tmp, KK, coef, 9);