added function mj_subtreeAngMomMat()

2024-02-25 21:09:11 +05:30
parent c6a41fbfe6
commit fad7ed30d2
2 changed files with 74 additions and 0 deletions
@@ -107,6 +107,9 @@ int mj_jacSum(const mjModel* m, mjData* d, int* chain,
              int n, const int* body, const mjtNum* weight,
              const mjtNum point[3], mjtNum* jac, int flg_rot);

+// compute subtree angular momentum matrix
+MJAPI void mj_subtreeAngMomMat(const mjModel *m, mjData *d, mjtNum *agm, int body);
+

 //-------------------------- name functions --------------------------------------------------------