4ce6293217
Fix bug in inverse dynamics when tendon armature is present.
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PiperOrigin-RevId: 773604419
Change-Id: Iaffe3d831c6a5aba8a0a99c05aa76cbd862745f5
2025-06-20 02:25:04 -07:00
335a9ce0c2
Use early-exit to improve readability of mj_instantiateEquality.
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PiperOrigin-RevId: 772917213
Change-Id: I106402d063a8fd0e95154bd8608eb4359d4dfdab
2025-06-18 07:45:23 -07:00
998769a995
Return the total non-zeros from mju_sqrMatTDSparseCount.
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PiperOrigin-RevId: 772414653
Change-Id: Ic1cac868af0034196f33d08b2456be77c72cbd50
2025-06-17 04:27:15 -07:00
a4ab35c194
update scrubs and set next version
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PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
2025-06-12 11:39:45 -07:00
9b2b7cf92a
Set light intensity to 0 by default (not 1000).
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PiperOrigin-RevId: 764257692
Change-Id: If656095e3f8d4b4d9c97fa67bdad508a49095eb3
2025-05-28 07:47:28 -07:00
56b88b59f0
Support 0-simplex in GJK code, and refactor code for efficiency and readability.
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PiperOrigin-RevId: 764197889
Change-Id: Ie0d57474060a34a6b908be0386094f442cda448a
2025-05-28 04:19:13 -07:00
568620dd2f
Add texture attribute to lights.
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PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
2025-05-27 05:04:01 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
eb6f7dc6b7
Gate some calls with __EMSCRIPTEN__
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PiperOrigin-RevId: 762520516
Change-Id: If9f7729721bab8c947861a968cf96eecc6591228
2025-05-23 12:10:52 -07:00
74cc904edc
Convert light directional boolean into a type enum.
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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
373b4c0437
Support image/ktx format for textures.
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PiperOrigin-RevId: 761926074
Change-Id: I6a312634b5bdc706ea5166bc3b2be273e14c1c8a
2025-05-22 05:47:55 -07:00
94803d772c
Enable multithreading of Newton solver.
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PiperOrigin-RevId: 760723081
Change-Id: Ib7d3c9cec2fdf7dd0e46a570f37c0a6fc5424c7b
2025-05-19 12:18:22 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
45fc15b844
Speed up sparse supernode detection by combining it with transposition.
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PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
2025-05-19 10:14:15 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
8268c6d1ff
Add mjv_copyData
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PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
2025-05-19 08:59:43 -07:00
84d658a5ad
Remove redundant variable in mj_factorI
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PiperOrigin-RevId: 760604094
Change-Id: I664b4cc9d717bc12a4711feb3fa585777fb7a1aa
2025-05-19 06:42:11 -07:00
ee8abdf854
Speed up mju_sqrMatTDSparse
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PiperOrigin-RevId: 759593417
Change-Id: I0168e1f96333769d09d61e835560910d43aac608
2025-05-16 06:42:17 -07:00
e8c566bee1
Remove use of diagnum in solver
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PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
2025-05-15 00:39:28 -07:00
e1baa15776
Remove unnecessary argument in mju_mulSymVecSparse
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PiperOrigin-RevId: 758688536
Change-Id: Ife1099b948215363ddaa6d0b0edcf3492edcddcc
2025-05-14 08:12:15 -07:00
d8bebdc675
Remove unnecessary diagnum argument in mj_solveLD and mj_factorI
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PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
2025-05-14 07:13:27 -07:00
b0c36c6b33
Remove dead functions.
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PiperOrigin-RevId: 758663369
Change-Id: I2de0d9802eb73c3541ef17e46182608b08a3793e
2025-05-14 06:55:39 -07:00
dd28b887d4
Rename C sparse structure to M in mjdata, improve docstrings.
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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
2025-05-14 05:26:19 -07:00
1165018f71
Add island support to Newton solver
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PiperOrigin-RevId: 758618486
Change-Id: I257d78c7dc9aa4dbf7cd6d8849d8ec48201edf24
2025-05-14 04:20:34 -07:00
fa95fe0c59
Add intensity and range parameters to lights.
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PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
2025-05-14 03:28:03 -07:00
a6c3a287d6
Prepare Newton solver for island support
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PiperOrigin-RevId: 758600631
Change-Id: Iac354588ad91f404a30fa035893560db60db733f
2025-05-14 03:18:03 -07:00
2386dfd7da
Add touch sensor for estimating the surface contact stresses from the SDF.
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PiperOrigin-RevId: 758556339
Change-Id: Ib56d76fab084b530fd68d61a29294cb6f1d05f3f
2025-05-14 00:45:58 -07:00
4186589738
Use mjData.M where appropriate
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PiperOrigin-RevId: 758374391
Change-Id: I9de7af7be8e41b5c300d0a04ea99082b4cefdec6
2025-05-13 14:22:41 -07:00
1e02d66c3d
Remove M matrix structure from mjData.
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Introduced in March 2025 as a temporary measure, this is not considered a breaking change.
PiperOrigin-RevId: 758311298
Change-Id: Ia08857c18b791f6a62a2d8d136b45fc075507b93
2025-05-13 11:47:18 -07:00
627fffdef9
Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.
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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
2025-05-13 10:20:32 -07:00
436b5a8e1f
Add mju_addToSymSparse
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- Internal engine function to add a symmetric sparse matrix to a dense matrix.
- Also minor refactors to related functions.
PiperOrigin-RevId: 757954336
Change-Id: I8d8a48bcbbd5d6c618ae097a87df2bc1e6f5ef1d
2025-05-12 16:19:43 -07:00
755564a348
Remove unused code related to legacy island implementation.
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Also fix a docstring.
PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
2025-05-12 15:39:16 -07:00
8a7c42c747
Add SDF functions to public API.
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PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
2025-05-12 10:53:39 -07:00
dfe22f7ef7
Remove stale reference to uncompressed sparse matrix.
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PiperOrigin-RevId: 757775265
Change-Id: Ic18c0c89ab84285a7d93e24c65e50832ebc53c6f
2025-05-12 08:30:43 -07:00
85dd78d6f3
Add private function mj_makeM.
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PiperOrigin-RevId: 757689756
Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
2025-05-12 03:52:38 -07:00
9accc7ae51
Update mj_energyPos.
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PiperOrigin-RevId: 757678945
Change-Id: If236b9e8f376a2673abc87e818326e9188f6c15a
2025-05-12 03:14:43 -07:00
b0b2c48190
Update comment in mj_energyPos.
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PiperOrigin-RevId: 757670899
Change-Id: I3827089f4298b3800c20ed64ca0ccfcf3ed83d92
2025-05-12 02:45:45 -07:00
baf84265b8
Improve wrap_circle.
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PiperOrigin-RevId: 756704385
Change-Id: Id44ba317c6072790763a958f4227a76278d3ab74
2025-05-09 04:13:14 -07:00
ecb769fc3a
Refactor islands to be memory contiguous.
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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
2025-05-07 05:06:27 -07:00
7742f62803
Add mju_mulSymVecSparse, private engine function
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Multiply sparse symmetric matrix (only lower triangle represented) by vector
PiperOrigin-RevId: 752926934
Change-Id: I5aaae1266256aa88aee8c25e242b7a7c51ea8dd7
2025-04-29 16:33:54 -07:00
1766a388cc
Improve warmstarting if island structure exists.
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PiperOrigin-RevId: 752901506
Change-Id: I062d14df7da7d9dc1a2c1c30a16d0db7215af336
2025-04-29 15:18:14 -07:00
8078a45727
Add private functions mju_blockDiag and mju_blockDiagSparse
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PiperOrigin-RevId: 752815446
Change-Id: Ia7f73160315ce57b78a2c34bc781f00e1b0f05c4
2025-04-29 11:31:03 -07:00
2545ec5383
Don't call getchar on error.
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PiperOrigin-RevId: 752680097
Change-Id: Idce87a3e33ebce703bf3eedc18026f6a13d05f35
2025-04-29 04:37:22 -07:00
4137a4c774
Bump version to 3.3.3 following the 3.3.2 release
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PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
2025-04-28 16:09:25 -07:00
9e72874801
Remove EPA tolerance in the discrete case in nativeccd.
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PiperOrigin-RevId: 750649926
Change-Id: I8ab317cd6b227c9486a2916ae9c6445906c23401
2025-04-23 10:52:14 -07:00
8f768be2da
Remove solver_nisland field from mjData.
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PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
2025-04-23 03:27:41 -07:00
c2ac0d724e
Add mju_gather and mju_scatter, private engine functions.
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PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
2025-04-22 10:33:33 -07:00
99490163df
Prevent NaN in cylinder SDF.
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Fixes #2573 .
The correction matches the one used in MJX (see _cylinder_grad in collision_sdf.py).
PiperOrigin-RevId: 747887406
Change-Id: I1a4f1ac769adb96c98665eace7ce54fb09a7d3a2
2025-04-15 08:34:05 -07:00
440ce5eb7a
Update the version number to 3.3.2 following the 3.3.1 release.
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PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
2025-04-10 13:17:20 -07:00
b1f8d444f2
Fix bug in replaceSimplex3 in nativeccd.
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PiperOrigin-RevId: 746014344
Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
2025-04-10 07:04:27 -07:00
Yuval Tassa