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Break up engine_derivative.c into analytical and finite-differencing …
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…functions (moved to engine_derivative_fd.c)

PiperOrigin-RevId: 517165392
Change-Id: I649f5521364877d36d7564bb650a889298f0c8a1
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yuvaltassa authored and copybara-github committed Mar 16, 2023
1 parent 1731baa commit 9a97674
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Showing 6 changed files with 648 additions and 587 deletions.
2 changes: 2 additions & 0 deletions src/engine/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -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
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