Yuval Tassa
0c337799bd
PiperOrigin-RevId: 899043541 Change-Id: I0bb38f6ad94e189b45ab16777a04ad6fefc6adf7
100 lines
3.6 KiB
C
100 lines
3.6 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_FORWARD_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_FORWARD_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// check positions, velocities, accelerations; reset if bad
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MJAPI void mj_checkPos(const mjModel* m, mjData* d);
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MJAPI void mj_checkVel(const mjModel* m, mjData* d);
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MJAPI void mj_checkAcc(const mjModel* m, mjData* d);
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//-------------------------------- top-level API ---------------------------------------------------
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// advance simulation: use control callback, no external force, RK4 available
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MJAPI void mj_step(const mjModel* m, mjData* d);
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// advance simulation in two steps: before external force/control is set by user
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MJAPI void mj_step1(const mjModel* m, mjData* d);
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// advance simulation in two steps: after external force/control is set by user
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MJAPI void mj_step2(const mjModel* m, mjData* d);
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// forward dynamics
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MJAPI void mj_forward(const mjModel* m, mjData* d);
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// forward dynamics with skip; skipstage is mjtStage
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MJAPI void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
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//-------------------------------- integrators -----------------------------------------------------
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// Runge Kutta explicit order-N integrator
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MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N);
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// Euler integrator, semi-implicit in velocity
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MJAPI void mj_Euler(const mjModel* m, mjData* d);
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// Euler integrator, semi-implicit in velocity, possibly skipping factorisation
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MJAPI void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor);
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// fully implicit in velocity
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MJAPI void mj_implicit(const mjModel *m, mjData *d);
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// fully implicit in velocity, possibly skipping factorization
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MJAPI void mj_implicitSkip(const mjModel *m, mjData *d, int skipfactor);
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// implicit midpoint integration for 6 DOFs (translation + rotation) of a single body
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// returns number of Newton iterations
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MJAPI int mj_midpoint(mjtNum mass, const mjtNum inertia[3], const mjtNum ipos[3],
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const mjtNum iquat[4], const mjtNum xquat[4], const mjtNum qvel[6],
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const mjtNum qfrc[6], const mjtNum gravity[3], mjtNum h,
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mjtNum qvel_new[6]);
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//-------------------------------- solver components -----------------------------------------------
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// all kinematics-like computations
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MJAPI void mj_fwdKinematics(const mjModel* m, mjData* d);
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// computations that depend only on qpos
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MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);
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// computations that depend only on qpos and qvel
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MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d);
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// compute actuator force
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MJAPI void mj_fwdActuation(const mjModel* m, mjData* d);
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// add up all non-constraint forces, compute qacc_smooth
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MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d);
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// forward constraint
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MJAPI void mj_fwdConstraint(const mjModel* m, mjData* d);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_FORWARD_H_
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