inertia box fluid model #191
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mujoco_warp/_src/passive.py
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| lvel_torque = rotT @ torque | ||
| lvel_force = rotT @ force | ||
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| if m.opt.wind[0] or m.opt.wind[1] or m.opt.wind[2]: |
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not sure if there is a big benefit to this, but could be wp.max(m.opt.wind) > 0.0.
Or I guess this information is even statically available, so maybe wrap in wp.static? actually, you're not running that code right now anyway if all of them are zero, are you going to reuse this function in a different kernel?
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wrapped in wp.static
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the functionality from _inertia_box_fluid_model is moved into box_fluid
btaba
reviewed
May 8, 2025
erikfrey
approved these changes
May 9, 2025
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adds inertia box fluid model
https://mujoco.readthedocs.io/en/latest/computation/fluid.html#inertia-model
https://github.com/google-deepmind/mujoco/blob/d3bc0544d39c0933067e493f4c1c7ebfd15ae9f3/src/engine/engine_passive.c#L527