Break up engine_derivative.c into analytical and finite-differencing …

…functions (moved to engine_derivative_fd.c) PiperOrigin-RevId: 517165392 Change-Id: I649f5521364877d36d7564bb650a889298f0c8a1
google-deepmind · Mar 16, 2023 · 9a97674 · 9a97674
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commit 9a97674
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Showing 6 changed files with 648 additions and 587 deletions.
diff --git a/src/engine/CMakeLists.txt b/src/engine/CMakeLists.txt
@@ -31,6 +31,8 @@ set(MUJOCO_ENGINE_SRCS
     engine_crossplatform.h
     engine_derivative.c
     engine_derivative.h
+    engine_derivative_fd.c
+    engine_derivative_fd.h
     engine_file.c
     engine_file.h
     engine_forward.c