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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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unity/Runtime/Bindings/MjBindings.cs
+5
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@@ -50,6 +50,7 @@ public const int mjNBIAS = 10;
public const int mjNFLUID = 12;
public const int mjNREF = 2;
public const int mjNIMP = 5;
public const int mjNPOLY = 2;
public const int mjNSENS = 3;
public const int mjNSOLVER = 200;
public const int mjNISLAND = 20;
@@ -5437,6 +5438,7 @@ public unsafe struct mjModel_ {
public double* jnt_pos;
public double* jnt_axis;
public double* jnt_stiffness;
public double* jnt_stiffnesspoly;
public double* jnt_range;
public double* jnt_actfrcrange;
public double* jnt_margin;
@@ -5452,6 +5454,7 @@ public unsafe struct mjModel_ {
public double* dof_frictionloss;
public double* dof_armature;
public double* dof_damping;
public double* dof_dampingpoly;
public double* dof_invweight0;
public double* dof_M0;
public double* dof_length;
@@ -5725,7 +5728,9 @@ public unsafe struct mjModel_ {
public double* tendon_actfrcrange;
public double* tendon_margin;
public double* tendon_stiffness;
public double* tendon_stiffnesspoly;
public double* tendon_damping;
public double* tendon_dampingpoly;
public double* tendon_armature;
public double* tendon_frictionloss;
public double* tendon_lengthspring;