04f8403d8e
Add unit tests for NativeCCD to produce better test coverage.
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PiperOrigin-RevId: 677793306
Change-Id: I435865f00553c74d1d0c0fa86d9c41fb1e5497ff
2024-09-23 07:55:39 -07:00
91cedfd65c
Avoid square roots in barycentric coordinate computation.
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Also add some `inline` qualifiers.
PiperOrigin-RevId: 676873457
Change-Id: I76f57dc870a8714bd86749a7dee1f10fc5e4be1c
2024-09-20 09:37:40 -07:00
78832db53f
Use designated initializers for mjCCDObj.
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PiperOrigin-RevId: 676794693
Change-Id: Ie8a35415232e8a9f619713763c5d5a37a6f82935
2024-09-20 04:32:10 -07:00
7a92423cf2
Add height fields to list of discrete objects in NativeCCD.
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PiperOrigin-RevId: 676452215
Change-Id: I5d6a0d1e26ee852c774b44f550c1d0531b7a269b
2024-09-19 09:48:41 -07:00
4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
1a5536ce5b
Make edges array const.
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PiperOrigin-RevId: 676046588
Change-Id: Ica4bcdb49311bae8ccbf071717d7eb1c7cb55b87
2024-09-18 10:40:38 -07:00
66a9cacc90
Move elasticity force computation to the engine.
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PiperOrigin-RevId: 676028775
Change-Id: I994e3dda8d6470815763c04df0c276e265aa1f54
2024-09-18 09:55:00 -07:00
e439b748a4
Replace calls to floor/ceil with mju_floor/mju_ceil.
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PiperOrigin-RevId: 675988982
Change-Id: I5f4d09d957ac7030cd4ce70e72f78dd4f07a6090
2024-09-18 07:49:23 -07:00
0657e3e871
Fix bug in DeleteFace in NativeCCD.
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PiperOrigin-RevId: 675948504
Change-Id: If9d967c8e75580a3a002fce9c10a2e1bfd0b5d46
2024-09-18 05:20:11 -07:00
317f480224
Properly initialize hfield mjCCDObj for collisions.
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PiperOrigin-RevId: 675580798
Change-Id: I119258c46562f73af4b7a5d100f69d0e52fbe71c
2024-09-17 08:37:59 -07:00
bd811a44e7
Remove redundant copying in NativeCCD and refactor code for readability.
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PiperOrigin-RevId: 675573079
Change-Id: If9f7bc21d9ee7806997f05a8985ebe6b1b3c8332
2024-09-17 08:14:10 -07:00
7f7c5ec943
Fix mismatch in mju_wrap function signature definition.
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PiperOrigin-RevId: 675204328
Change-Id: I820f10237b6d3bfd36067a9c3aef82cb1908ef6a
2024-09-16 10:34:22 -07:00
e94bd8348c
Store polytope faces in heap in NativeCCD.
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PiperOrigin-RevId: 675197250
Change-Id: Ibe9194d777d68729bffd085e36313fb33ee2756d
2024-09-16 10:17:20 -07:00
48fee9487e
Clean up tendon wrapping code.
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PiperOrigin-RevId: 675185000
Change-Id: I3d93d7ce65b617c4869eb002dfe9440efa9abf66
2024-09-16 09:47:22 -07:00
ce3681a26d
Replace hard-coded mjNCATENARY with mjVisual.quality.numslices.
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PiperOrigin-RevId: 675157138
Change-Id: I87ea16e4df8ed63b301ceaeac6e1b1d0513b77a0
2024-09-16 08:25:19 -07:00
4628a5e438
Remove vertex struct from NativeCCD and allocate fixed memory for vertices on MuJoCo stack.
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PiperOrigin-RevId: 675144892
Change-Id: I23d3316b9346ce7137bcfe84265717b60950898a
2024-09-16 07:45:53 -07:00
31abd7900a
Add edge ids to flex elements in mjModel.
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PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
2024-09-16 06:58:10 -07:00
60a1921b34
Add site semantics to weld constraint. Fixes #1896
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PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
2024-09-16 05:46:01 -07:00
fd17b2144a
Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.
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build / windows-2022 (push) Has been cancelled
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build / ubuntu-20.04-clang-10 (push) Has been cancelled
build / ubuntu-20.04-clang-11 (push) Has been cancelled
build / ubuntu-20.04-clang-12 (push) Has been cancelled
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Also, minor type-related fixes in `user_mesh.cc`.
PiperOrigin-RevId: 675082329
Change-Id: Icc5eb9f9eb4fbf09b08d7d4b9b2929f414e4a75c
2024-09-16 03:40:17 -07:00
9f8f6947fc
Remove global linear search in favor of (almost constant time) local search when finding the convex hull of the polytope and new point in EPA for NativeCCD.
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PiperOrigin-RevId: 673852140
Change-Id: Ib2ab64bad3cd2aa7d252b4016754f37ea30e1077
2024-09-12 08:11:30 -07:00
8d165d5cc7
Fix early termination in GJK. It's possible for x_k to be the origin, so we should run the previous test to conclude that the objects are colliding.
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PiperOrigin-RevId: 673834101
Change-Id: I596b30d2847670261f8067840b34dc13de401ecb
2024-09-12 07:17:53 -07:00
14f420069e
Make projectOriginPlane in NativeCCD numerically robust.
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PiperOrigin-RevId: 673761409
Change-Id: I64304c89f768414d60e2dcf2e71feb8a6f9b2635
2024-09-12 03:01:15 -07:00
e4d4153352
Move sanitizer instrumentation to a separate header file. Fixes #2049 .
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PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
2024-09-10 09:05:35 -07:00
44145742a7
Exit GJK early if geom distance doesn't need to be recovered.
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PiperOrigin-RevId: 672334991
Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
2024-09-08 14:57:50 -07:00
61721f8d3c
Set tolerance in GJK to zero for colliding discrete geoms.
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PiperOrigin-RevId: 672326091
Change-Id: Iddec335272461c9aee13c1960640a453ff59f841
2024-09-08 13:49:58 -07:00
4fc6fb179b
Remove libccd compatibility layer from native ccd.
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PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
2024-09-06 06:56:01 -07:00
b9822e4347
Check hexahedron in polytope3 to make sure it contains the origin. Otherwise, EPA can return invalid results.
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PiperOrigin-RevId: 671057312
Change-Id: Ieb21a77ea679ee5c18972d3a0375578d9a98405e
2024-09-04 12:17:54 -07:00
79a5bd0915
Add better boundary tests in polytope3 for EPA.
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PiperOrigin-RevId: 671038835
Change-Id: I259260a7b40e825678b52187bee4791266ae10c4
2024-09-04 11:25:44 -07:00
e9a85764ea
Native CCD: Replace mju_malloc with C standard malloc, fix bug in computing v5 in polytope3, and add another warning in EPA.
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PiperOrigin-RevId: 670939250
Change-Id: Ia0d8b7c78ed2ef7019f2a691c066b20e98dc1889
2024-09-04 05:53:31 -07:00
3437361bfb
Add reduced sparse dof-dof matrix structures to mjData.
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PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
2024-09-04 04:24:02 -07:00
42eb669e4e
Precompute mappings between M <-> D sparse representations.
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PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
2024-09-04 02:57:13 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
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PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
9cab5a42a4
Remove unnecessary normal vector computation from mju_wrap cylinder case.
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PiperOrigin-RevId: 669010760
Change-Id: Ie3869a9f112ca88b2a7ec4990c402ef3e92d36a8
2024-08-29 11:46:38 -07:00
a1036b86d3
Allow connect constraints to be specified using sites.
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PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:10:51 -07:00
f3cfe7a84a
Minor clean up in mj_jac.
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PiperOrigin-RevId: 668395751
Change-Id: I5c3104ad59a5a709cf1639df663c864fa9d02399
2024-08-28 04:45:40 -07:00
3e701b2125
Fix tendon sphere wrapping when using external sidesite.
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PiperOrigin-RevId: 668391942
Change-Id: I78b44e1f90bb26fa6f5544eeb884c8ea22e41d33
2024-08-28 04:30:07 -07:00
72a0ab145d
Refactor frustum drawing to use a local makeTriangle function.
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PiperOrigin-RevId: 668168658
Change-Id: I0ee9038c36eb28e2c4a0a8c94bea7430f68c6b77
2024-08-27 15:42:31 -07:00
ddb29e9293
Fix bug in computing pos in EPA by replacing S2D with computing affine coordinates directly to recover the witness points.
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PiperOrigin-RevId: 668006152
Change-Id: I1de33c5bb94de1a14523a88a5dff7d6ec984628e
2024-08-27 08:55:40 -07:00
cad8ca6ffd
Do pre-checking when creating initial polytope for EPA.
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PiperOrigin-RevId: 666807572
Change-Id: I64c3715dc72c24f9b6b2206b3568951bd8c2384a
2024-08-23 08:37:34 -07:00
9d4f8edad9
Avoid pointer access in loop conditionals in engine_core_smooth.c
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PiperOrigin-RevId: 666800203
Change-Id: Iec6ce752d0cac1a98809ab085ed8f94416f79e95
2024-08-23 08:13:52 -07:00
d360ea1ce6
Minor GJK + EPA improvements:
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1. Correct stopping criteria for GJK.
2. Store witness points from EPA in mjCCDObj,
3. Get dir directly from EPA instead of computing dir from witness points.
PiperOrigin-RevId: 666791852
Change-Id: I6a168f635b57c17692d31da6f6076b48c32ff2e3
2024-08-23 07:44:30 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
2efbd31762
Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts.
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PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
2024-08-22 06:08:25 -07:00
8b03daa09b
Add mjtSameFrame enum to specify frame alignment of bodies with their children.
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PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:17:06 -07:00
f986a52e1e
Compute witness points from EPA, and use witness points to determine pos and dir for contact.
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PiperOrigin-RevId: 665791337
Change-Id: If33ca1f455804c4cda534508803f5c3e99c3c52a
2024-08-21 03:06:17 -07:00
0fa39164f7
Speed up mesh support function with warmstarts.
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PiperOrigin-RevId: 664807396
Change-Id: I9124e65efd9140a8e858b7b6be0867c26961477b
2024-08-19 07:54:50 -07:00
0bffd744f9
Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.
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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
2024-08-16 14:08:35 -07:00
0bcaa85650
Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed.
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PiperOrigin-RevId: 663680592
Change-Id: I5d72888cab19dd5e51f552f63fe0968db93f5dcd
2024-08-16 04:07:23 -07:00
64575f399b
Add heightfield collision support for GJK + EPA implementation.
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PiperOrigin-RevId: 663321119
Change-Id: I01a85ae15386c997bff4e9c6d71555a4380dfffe
2024-08-15 08:50:09 -07:00
b2018ff506
Replace function with static array in engine_forward.c
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PiperOrigin-RevId: 663268322
Change-Id: Ibd161a8eda55fc04cf37e465f0d0ac0adcfc7847
2024-08-15 05:11:38 -07:00
Kyle Bayes