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Add frame element to MJCF.

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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
This commit is contained in:
Alessio Quaglino
2023-11-27 03:31:25 -08:00
committed by Copybara-Service
parent 8010aad7be
commit eb9568a48b
13 changed files with 411 additions and 17 deletions
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src/user/user_util.cc
+8 -3
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@@ -191,9 +191,14 @@ void mjuu_mulquat(double* res, const double* qa, const double* qb) {
// multiply vector by 3-by-3 matrix
void mjuu_mulvecmat(double* res, const double* vec, const double* mat) {
res[0] = mat[0]*vec[0] + mat[1]*vec[1] + mat[2]*vec[2];
res[1] = mat[3]*vec[0] + mat[4]*vec[1] + mat[5]*vec[2];
res[2] = mat[6]*vec[0] + mat[7]*vec[1] + mat[8]*vec[2];
double tmp[3] = {
mat[0]*vec[0] + mat[1]*vec[1] + mat[2]*vec[2],
mat[3]*vec[0] + mat[4]*vec[1] + mat[5]*vec[2],
mat[6]*vec[0] + mat[7]*vec[1] + mat[8]*vec[2]
};
res[0] = tmp[0];
res[1] = tmp[1];
res[2] = tmp[2];
}