- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).
PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
These bodies have `body_invweight0 == 0` (infinite mass) and no degrees of freedom (identically 0 Jacobians). This was breaking some assumptions of the perturbation code which assumed perturbation applied only to moving bodies and led to very large forces/torques being applied. While these huge forces had no effect on the dynamics, they were reported by sensors, leading to unreasonable sensor readings.
PiperOrigin-RevId: 614398354
Change-Id: If5efe1c9e57e2be28af33d109679db8b3129da7f
Also:
- Renamed recently introduced `mjvPerturb` member `reflocalpos` -> `refselpos` and corrected docstring.
- Added `mjvPerturb.localmass`: body spatial inertia at selection point.
- Removed `const` qualifier to `mjData` argument of `mjv_initPerturb()`, to facilitate spatial inertia computation.
- Improved `mj_Object{Velocity, Acceleration}` docstrings, clarifying that rotational velocities precede linear velocities.
- Removed redundant const qualifiers from non pointer arguments to `mju_dot` and `mju_writeNumBytes`.
PiperOrigin-RevId: 511002168
Change-Id: I27400f497947f330072d4abb7c9bf7e71e6c5d49
Since fdbbc8bbe0, mju_mulQuat allows in-place computations.
There were a few places where the result was unnecessarily assigned to a temporary variable.
PiperOrigin-RevId: 477746005
Change-Id: I7351ef4796e7d70a4a54b930037bfaadee781f12
Yuval Tassa