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Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y

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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
This commit is contained in:
Yuval Tassa
2026-03-16 13:24:44 -07:00
committed by Copybara-Service
parent aec1b45dce
commit efae9157a7
38 changed files with 1093 additions and 176 deletions
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src/engine/engine_forward.c
+5 -2
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@@ -953,7 +953,7 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
if (!mjDISABLED(mjDSBL_EULERDAMP) && !mjDISABLED(mjDSBL_DAMPER)) {
for (int v=0; v < nv; v++) {
int i = sleep_filter ? dof_awake_ind[v] : v;
if (m->dof_damping[i] > 0) {
if (m->dof_damping[i] > 0 || !mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY)) {
dof_damping = 1;
break;
}
@@ -982,7 +982,10 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
// qH += h*diag(B)
for (int v=0; v < nv; v++) {
int i = sleep_filter ? dof_awake_ind[v] : v;
d->qH[m->M_rowadr[i] + m->M_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
mjtNum qv = d->qvel[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
mjtNum damp_deriv = mjd_xPolyForce(m->dof_damping[i], poly, qv, mjNPOLY, 1);
d->qH[m->M_rowadr[i] + m->M_rownnz[i] - 1] += m->opt.timestep * damp_deriv;
}
// factorize in-place