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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_util_misc.h
+11
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@@ -239,6 +239,17 @@ MJAPI mjtNum mju_Halton(int index, int base);
// call strncpy, then set dst[n-1] = 0
MJAPI char* mju_strncpy(char *dst, const char *src, int n);
// polynomial force coefficient: force = -mju_polyForce(...) * x
// flg_odd=0: linear + poly[0]*x + poly[1]*x^2 + ...
// flg_odd=1: linear + poly[0]*|x| + poly[1]*x^2 + ...
MJAPI mjtNum mju_polyForce(mjtNum linear, const mjtNum* poly, mjtNum x, int n, int flg_odd);
// derivative of (mju_polyForce * x) w.r.t. x
MJAPI mjtNum mjd_xPolyForce(mjtNum linear, const mjtNum* poly, mjtNum x, int n, int flg_odd);
// potential energy: integral from 0 to x of mju_polyForce * t dt
MJAPI mjtNum mju_polyPotential(mjtNum linear, const mjtNum* poly, mjtNum x, int n, int flg_odd);
// sigmoid function over 0<=x<=1 using quintic polynomial
MJAPI mjtNum mju_sigmoid(mjtNum x);