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Improve full inertia user API.

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PiperOrigin-RevId: 627399310
Change-Id: Ie2bdc6778e80b2b8127b52c73a3cc4b4755d8e0a
This commit is contained in:
Yuval Tassa
2024-04-23 08:39:10 -07:00
committed by Copybara-Service
parent c6ab354bd7
commit f457789de1
6 changed files with 55 additions and 59 deletions
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src/user/user_api.cc
+4 -3
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@@ -679,11 +679,12 @@ void mjs_setActivePlugins(mjSpec* s, void* activeplugins) {
// compute full inertia
const char* mjs_setFullInertia(mjsBody* bodyspec, double quat[4], double inertia[3]) {
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
return body->FullInertia(quat, inertia);
const char* mjs_fullInertia(double quat[4], double inertia[3], const double fullinertia[6]) {
return FullInertia(quat, inertia, fullinertia);
}
// -------------------------- GLOBAL ASSET CACHE -------------------------------
void mj_setCacheSize(mjCache cache, std::size_t size) {