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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 | // Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_
#define MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_
#include <mujoco/mjdata.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
#ifdef __cplusplus
extern "C" {
#endif
//------------------------- passive forces ---------------------------------------------------------
// all passive forces
MJAPI void mj_passive(const mjModel* m, mjData* d);
//------------------------- fluid models -----------------------------------------------------------
// fluid forces based on inertia-box approximation
void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i);
// fluid forces based on ellipsoid approximation
void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid);
// compute forces due to added mass (potential flow)
void mj_addedMassForces(
const mjtNum local_vels[6], const mjtNum local_accels[6],
mjtNum fluid_density, const mjtNum virtual_mass[3],
const mjtNum virtual_inertia[3], mjtNum local_force[6]);
// compute forces due to viscous effects
void mj_viscousForces(
const mjtNum local_vels[6], mjtNum fluid_density,
mjtNum fluid_viscosity, const mjtNum size[3],
mjtNum magnus_lift_coef, mjtNum kutta_lift_coef,
mjtNum blunt_drag_coef, mjtNum slender_drag_coef,
mjtNum ang_drag_coef, mjtNum local_force[6]);
void readFluidGeomInteraction(const mjtNum* geom_fluid_coefs,
mjtNum* geom_fluid_coef,
mjtNum* blunt_drag_coef,
mjtNum* slender_drag_coef,
mjtNum* ang_drag_coef,
mjtNum* kutta_lift_coef,
mjtNum* magnus_lift_coef,
mjtNum virtual_mass[3],
mjtNum virtual_inertia[3]);
void writeFluidGeomInteraction (mjtNum* geom_fluid_coefs,
const mjtNum* geom_fluid_coef,
const mjtNum* blunt_drag_coef,
const mjtNum* slender_drag_coef,
const mjtNum* ang_drag_coef,
const mjtNum* kutta_lift_coef,
const mjtNum* magnus_lift_coef,
const mjtNum virtual_mass[3],
const mjtNum virtual_inertia[3]);
#ifdef __cplusplus
}
#endif
#endif // MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_
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