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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_util_blas.h
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@@ -109,6 +109,14 @@ MJAPI void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]
// multiply vector by transposed 3D rotation matrix
MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
// multiply 3x3 matrices
MJAPI void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[3], const mjtNum mat2[9]);
// multiply 3x3 matrices, first argument transposed
MJAPI void mju_mulMatTMat3(mjtNum res[9], const mjtNum a[3], const mjtNum b[9]);
// multiply 3x3 matrices, second argument transposed
MJAPI void mju_mulMatMatT3(mjtNum res[9], const mjtNum mat1[3], const mjtNum mat2[9]);
//------------------------------ 4D/quaternion operations ------------------------------------------