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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_inverse.c
+5 -2
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@@ -92,7 +92,7 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
dof_damping = 0;
if (!mjDISABLED(mjDSBL_EULERDAMP)) {
for (int i=0; i < nv; i++) {
if (m->dof_damping[i] > 0) {
if (m->dof_damping[i] > 0 || !mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY)) {
dof_damping = 1;
break;
}
@@ -108,7 +108,10 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
// set qfrc = (M + h*diag(B)) * qacc
mj_mulM(m, d, qfrc, qacc);
for (int i=0; i < nv; i++) {
qfrc[i] += m->opt.timestep * m->dof_damping[i] * d->qacc[i];
mjtNum v = d->qvel[i];
const mjtNum* poly = m->dof_dampingpoly + mjNPOLY*i;
mjtNum damp_deriv = mjd_xPolyForce(m->dof_damping[i], poly, v, mjNPOLY, 1);
qfrc[i] += m->opt.timestep * damp_deriv * d->qacc[i];
}
break;