Derivatives of ellipsoid fluid model.

PiperOrigin-RevId: 459751881 Change-Id: I52db87d82e20e10698b13065df2e983b9841bd7a
2022-07-08 07:19:10 -07:00
parent 7034851d0a
commit ea956dfe34
10 changed files with 784 additions and 309 deletions
@@ -80,9 +80,10 @@ MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);

 //------------------------- fluid model ------------------------------------------------------------

-
+// fluid forces based on inertia-box approximation
 void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i);

+// fluid forces based on ellipsoid approximation
 void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid);

 // compute forces due to added mass (potential flow)