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Add mju_interpolate3D.

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This is a more general API in preparation of a higher interpolation order

PiperOrigin-RevId: 820174741
Change-Id: I81bd52ab44e0485d72579e21d1c8a48a1b35ec3f
This commit is contained in:
Alessio Quaglino
2025-10-16 04:38:15 -07:00
committed by Copybara-Service
parent 48f10bfcb6
commit ffdfe542cf
5 changed files with 44 additions and 15 deletions
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src/engine/engine_util_misc.h
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@@ -62,6 +62,12 @@ int mju_insideGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3
// evaluate the deformation gradient at p using the nodal dof values
MJAPI void mju_defGradient(mjtNum res[9], const mjtNum p[3], const mjtNum* dof, int order);
// evaluate the basis function at x for the i-th node
MJAPI mjtNum mju_evalBasis(const mjtNum x[3], int i, int order);
// interpolate a function at x with given interpolation coefficients and order n
MJAPI void mju_interpolate3D(mjtNum res[3], const mjtNum x[3], const mjtNum* coeff, int order);
// ----------------------------- Base64 -----------------------------------------------------------
// encode data as Base64 into buf (including padding and null char)