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Add mju_fill, mju_symmetrize and mju_eye utility functions.

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PiperOrigin-RevId: 484226916
Change-Id: I79593d54e903ddacab0f859bfc6d17eccad7d3a1
This commit is contained in:
Yuval Tassa
2022-10-27 05:27:46 -07:00
committed by Copybara-Service
parent 507b573763
commit f905c7fb7f
8 changed files with 202 additions and 6 deletions
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unity/Runtime/Bindings/MujocoBindings.cs
+9
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@@ -3337,6 +3337,9 @@ public static unsafe extern double mju_normalize4(double* res);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_zero(double* res, int n);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_fill(double* res, int n, double val);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_copy(double* res, double* data, int n);
@@ -3388,6 +3391,12 @@ public static unsafe extern double mju_mulVecMatVec(double* vec1, double* mat, d
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_transpose(double* res, double* mat, int nr, int nc);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_symmetrize(double* mat, int n);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_eye(double* mat, int n);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mju_mulMatMat(double* res, double* mat1, double* mat2, int r1, int c1, int c2);