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1102 Commits

Author SHA1 Message Date
Kyle Bayes 0eec09dd60 Add runtime assertions to mji functions. 
PiperOrigin-RevId: 933106771
Change-Id: I523cdceb89c90611f27983731c49fd4887034431
 2026-06-16 08:36:32 -07:00
Kyle Bayes d9b677b49b Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op. 
PiperOrigin-RevId: 933105275
Change-Id: Id862b01774df63dcdb42629a5b7dd12019f12ffd
 2026-06-16 08:33:09 -07:00
Kyle Bayes b469144a81 Modify mjc_FlexSDF to support mjPreContact directly. 
PiperOrigin-RevId: 933068825
Change-Id: I328d64bb05270067ce146908b0df3ca83f10ed9b
 2026-06-16 07:04:16 -07:00
Haroon Qureshi 0ea9c7cb3a Expose function for determining if tendons should be drawn using a catenary. 
PiperOrigin-RevId: 931170146
Change-Id: Ia3352a3e2bdc5e4df932e9d476e1e34200b62df1
 2026-06-12 08:45:22 -07:00
Yuval Tassa a070535c65 Fix GCC -Wformat-truncation error in legacy log adapter 
Widen snprintf buffer from 1024 to 2048 bytes in mju_defaultLogHandler
to avoid truncation warning when formatting "func: subject".

PiperOrigin-RevId: 930823501
Change-Id: I0b2246f23c44e983bea76976b684d2efdfdff29c
 2026-06-11 17:23:43 -07:00
Yuval Tassa 58f6d52491 Introduce new logging API, fixes #858 
PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
 2026-06-11 14:36:57 -07:00
Yuval Tassa a2abaf7aef Render perturbation box as a wireframe. 
PiperOrigin-RevId: 930707140
Change-Id: Iab3577c8b45a235870f57001d38b6b1cd8acd170
 2026-06-11 13:31:16 -07:00
Kyle Bayes 6957966c7d Terminate early without contact in EPA if upper < lower on first iteration. 
PiperOrigin-RevId: 929828707
Change-Id: Ide1106c14ae6eb003a9bbc238609b4bfdde221b0
 2026-06-10 07:02:00 -07:00
Kyle Bayes 118baada7c Remove engine threading fallback. 
PiperOrigin-RevId: 929825049
Change-Id: Iff959f8d22ed082ff470c3eec426351964c2e89d
 2026-06-10 06:54:19 -07:00
Kyle Bayes 2c5b8cae6c Correct projected origin on face when the magnitude of face->v becomes very small in EPA. 
PiperOrigin-RevId: 929768876
Change-Id: I5daf0203e998aa1489d9ce4c78cbf0764a8963e3
 2026-06-10 04:48:18 -07:00
Adrian Collister 74d1459a4a Enable contact sensors to work with Flex. 
The sensor engine now correctly retrieves body IDs for contacts involving Flex elements by using mj_flexBody when a geom ID is -1. This allows contact sensors to detect and report forces/torques on bodies involved in Flex contacts.

PiperOrigin-RevId: 928607416
Change-Id: Ia815e1b3345bcfb393c9c4a829dc98959f2da50c
 2026-06-08 09:31:42 -07:00
Yuval Tassa 828052e6f4 CG solver: Replace PRP+ with Hager-Zhang update 
Replace the Polak-Ribière-Plus (PRP+) conjugate direction update with the Hager-Zhang  formula in `mj_solPrimal`.

While this change has negligible effect under float64, it leads to a significant 17.5% throughput speedup over PRP+ under float32 (measured via `engine_cg_convergence_test`). This performance gain is driven by:
* A 9.4% reduction in CG iterations per step.
* A 12.1% reduction in line search evaluations per step.

The full output of the comparison is

```
================================================================
1/4: HZ + float64
================================================================

CG Convergence: 2humanoid100.xml
  1000 Newton steps, 100 evaluation points
  nv = 654, nq = 756
  metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||

  Warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  3.8532e-01 |  1.4285e+00 |       5.00 |    22368
      10 |  2.0809e-01 |  9.9315e-01 |      10.00 |    44591
      20 |  6.4977e-02 |  2.3410e-01 |      20.00 |    89417
      40 |  5.2839e-03 |  2.1916e-02 |      40.00 |   180984
      80 |  3.9709e-05 |  3.0010e-04 |      80.00 |   364241
     160 |  3.2498e-09 |  3.5480e-08 |     160.00 |   730131
  -------+-------------+-------------+------------+---------

  No warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  9.0740e-01 |  5.0045e+00 |       5.00 |    22123
      10 |  3.9506e-01 |  2.1927e+00 |      10.00 |    44879
      20 |  1.2496e-01 |  6.8911e-01 |      20.00 |    90341
      40 |  1.2846e-02 |  6.9533e-02 |      40.00 |   182869
      80 |  1.0288e-04 |  8.6457e-04 |      80.00 |   368312
     160 |  5.9820e-09 |  5.0903e-08 |     160.00 |   738479
  -------+-------------+-------------+------------+---------

  Tolerance sweep (iterations = 100, warmstart):
         Tol |    Mean Err |     Max Err | Mean Iters |  Max Iters |   Solver us | LS evals
  -----------+-------------+-------------+------------+------------+-------------+---------
       1e-04 |  1.1297e-02 |  8.9331e-02 |      34.88 |         51 |   131002.94 |    12052
       1e-06 |  1.0907e-03 |  7.7468e-03 |      50.87 |         72 |   184172.44 |    16700
       1e-08 |  1.1485e-04 |  1.0085e-03 |      66.82 |         91 |   232189.34 |    20194
       1e-10 |  1.1357e-05 |  8.1547e-05 |      81.97 |        100 |   276114.42 |    23264
       1e-12 |  3.7695e-06 |  2.8592e-05 |      90.47 |        100 |   299526.58 |    24964
           0 |  3.5019e-06 |  2.8592e-05 |     100.00 |        100 |  2062208.36 |   456276
  -----------+-------------+-------------+------------+------------+-------------+---------
  Total solver time: 3185214.08 us, avg time per iter: 74.9445 us

  Pipeline mode (consecutive mj_step, tolerance = 1e-8):
  1000 steps, nv = 654
  Steps/s          : 380
  us/step (total)  : 2630.0
  us/step (constr) : 2103.7  (80.0%)
  CG iters/step    : 63.28
  LS evals/step    : 190.75
  us/iter          : 33.24

================================================================
2/4: PRP+ + float64
================================================================

CG Convergence: 2humanoid100.xml
  1000 Newton steps, 100 evaluation points
  nv = 654, nq = 756
  metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||

  Warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  3.8533e-01 |  1.4285e+00 |       5.00 |    22228
      10 |  2.0808e-01 |  9.9315e-01 |      10.00 |    44873
      20 |  6.4978e-02 |  2.3410e-01 |      20.00 |    89349
      40 |  5.2895e-03 |  2.1916e-02 |      40.00 |   179827
      80 |  4.0188e-05 |  3.0010e-04 |      80.00 |   363740
     160 |  3.2891e-09 |  3.5480e-08 |     160.00 |   733905
  -------+-------------+-------------+------------+---------

  No warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  9.0740e-01 |  5.0045e+00 |       5.00 |    22590
      10 |  3.9506e-01 |  2.1927e+00 |      10.00 |    45093
      20 |  1.2496e-01 |  6.8911e-01 |      20.00 |    90393
      40 |  1.2846e-02 |  6.9533e-02 |      40.00 |   182422
      80 |  1.0288e-04 |  8.6457e-04 |      80.00 |   367264
     160 |  5.9811e-09 |  5.0903e-08 |     160.00 |   739556
  -------+-------------+-------------+------------+---------

  Tolerance sweep (iterations = 100, warmstart):
         Tol |    Mean Err |     Max Err | Mean Iters |  Max Iters |   Solver us | LS evals
  -----------+-------------+-------------+------------+------------+-------------+---------
       1e-04 |  1.1325e-02 |  8.9941e-02 |      34.95 |         52 |   129456.81 |    12060
       1e-06 |  1.0910e-03 |  7.7469e-03 |      50.85 |         72 |   181004.51 |    16687
       1e-08 |  1.1488e-04 |  1.0085e-03 |      66.83 |         91 |   228183.13 |    20189
       1e-10 |  1.1401e-05 |  8.1547e-05 |      81.98 |        100 |   269635.40 |    23259
       1e-12 |  3.8040e-06 |  2.8592e-05 |      90.52 |        100 |   293811.25 |    24967
           0 |  3.5543e-06 |  2.8592e-05 |     100.00 |        100 |  2051927.47 |   456000
  -----------+-------------+-------------+------------+------------+-------------+---------
  Total solver time: 3154018.57 us, avg time per iter: 74.1895 us

  Pipeline mode (consecutive mj_step, tolerance = 1e-8):
  1000 steps, nv = 654
  Steps/s          : 382
  us/step (total)  : 2616.6
  us/step (constr) : 2091.8  (79.9%)
  CG iters/step    : 63.57
  LS evals/step    : 193.35
  us/iter          : 32.91

================================================================
3/4: HZ + float32
================================================================

CG Convergence: 2humanoid100.xml
  1000 Newton steps, 100 evaluation points
  nv = 654, nq = 756
  metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||

  Warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  3.6748e-01 |  1.2281e+00 |       5.00 |    19239
      10 |  2.0034e-01 |  6.8689e-01 |      10.00 |    39001
      20 |  6.1972e-02 |  1.9859e-01 |      20.00 |    80112
      40 |  4.0704e-03 |  1.5797e-02 |      40.00 |   168211
      80 |  2.4380e-05 |  1.5803e-04 |      79.45 |   347735
     160 |  7.7413e-07 |  4.4732e-06 |     157.27 |   704210
  -------+-------------+-------------+------------+---------

  No warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  9.3385e-01 |  4.9648e+00 |       5.00 |    19272
      10 |  3.6117e-01 |  1.9618e+00 |      10.00 |    37982
      20 |  9.7490e-02 |  5.1451e-01 |      20.00 |    76502
      40 |  9.5924e-03 |  5.5088e-02 |      40.00 |   162782
      80 |  6.7689e-05 |  5.1113e-04 |      79.91 |   344281
     160 |  1.5541e-06 |  7.6955e-06 |     157.30 |   697076
  -------+-------------+-------------+------------+---------

  Tolerance sweep (iterations = 100, warmstart):
         Tol |    Mean Err |     Max Err | Mean Iters |  Max Iters |   Solver us | LS evals
  -----------+-------------+-------------+------------+------------+-------------+---------
       1e-04 |  1.5891e-02 |  1.2929e-01 |      32.56 |         50 |   136254.00 |    10980
       1e-06 |  1.5719e-03 |  1.0990e-02 |      47.42 |         68 |   193566.00 |    15418
       1e-08 |  1.6260e-04 |  1.0680e-03 |      62.70 |         86 |   252661.00 |    20162
       1e-10 |  1.5664e-05 |  1.0999e-04 |      78.10 |        100 |   311535.00 |    24509
       1e-12 |  2.8152e-06 |  1.5236e-05 |      90.39 |        100 |   356814.00 |    27902
           0 |  2.4989e-06 |  1.5025e-05 |      99.05 |        100 |  1980580.00 |   436825
  -----------+-------------+-------------+------------+------------+-------------+---------
  Total solver time: 3231410.00 us, avg time per iter: 78.7726 us

  Pipeline mode (consecutive mj_step, tolerance = 1e-8):
  1000 steps, nv = 654
  Steps/s          : 349
  us/step (total)  : 2862.7
  us/step (constr) : 2379.3  (83.1%)
  CG iters/step    : 61.97
  LS evals/step    : 199.01
  us/iter          : 38.39

================================================================
4/4: PRP+ + float32
================================================================

CG Convergence: 2humanoid100.xml
  1000 Newton steps, 100 evaluation points
  nv = 654, nq = 756
  metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||

  Warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  3.6753e-01 |  1.2281e+00 |       5.00 |    19052
      10 |  2.0028e-01 |  6.8689e-01 |      10.00 |    38761
      20 |  6.1737e-02 |  1.9863e-01 |      20.00 |    79937
      40 |  4.0915e-03 |  1.5821e-02 |      39.99 |   168159
      80 |  2.4360e-05 |  1.5808e-04 |      79.59 |   348385
     160 |  7.8367e-07 |  4.1549e-06 |     157.04 |   700760
  -------+-------------+-------------+------------+---------

  No warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  9.3385e-01 |  4.9648e+00 |       5.00 |    19494
      10 |  3.6117e-01 |  1.9618e+00 |      10.00 |    38480
      20 |  9.7485e-02 |  5.1451e-01 |      20.00 |    77213
      40 |  9.5904e-03 |  5.5078e-02 |      40.00 |   162472
      80 |  6.7647e-05 |  5.1087e-04 |      79.87 |   342990
     160 |  1.4979e-06 |  7.2291e-06 |     157.92 |   699052
  -------+-------------+-------------+------------+---------

  Tolerance sweep (iterations = 100, warmstart):
         Tol |    Mean Err |     Max Err | Mean Iters |  Max Iters |   Solver us | LS evals
  -----------+-------------+-------------+------------+------------+-------------+---------
       1e-04 |  1.5998e-02 |  1.3172e-01 |      32.49 |         50 |   135111.00 |    10953
       1e-06 |  1.5878e-03 |  1.1052e-02 |      47.33 |         67 |   190914.00 |    15418
       1e-08 |  1.5901e-04 |  1.0680e-03 |      62.65 |         84 |   250609.00 |    20215
       1e-10 |  1.5953e-05 |  1.1116e-04 |      78.01 |        100 |   307067.00 |    24562
       1e-12 |  2.8520e-06 |  1.5174e-05 |      90.27 |        100 |   353010.00 |    27931
           0 |  2.5161e-06 |  1.5129e-05 |      99.39 |        100 |  1999478.00 |   438790
  -----------+-------------+-------------+------------+------------+-------------+---------
  Total solver time: 3236189.00 us, avg time per iter: 78.9045 us

  Pipeline mode (consecutive mj_step, tolerance = 1e-8):
  1000 steps, nv = 654
  Steps/s          : 298
  us/step (total)  : 3352.8
  us/step (constr) : 2832.0  (84.5%)
  CG iters/step    : 68.43
  LS evals/step    : 226.33
  us/iter          : 41.39
```

PiperOrigin-RevId: 928590104
Change-Id: I1a96730f50f444d6141d8978feb3519009daf320
 2026-06-08 08:54:07 -07:00
Kyle Bayes ac7f198536 Tune constants for nativeccd to perform better with single precision. 
PiperOrigin-RevId: 928549147
Change-Id: Ic28c60f73e92bb1b9578c56f790b6cda94875907
 2026-06-08 07:21:17 -07:00
Kyle Bayes 318880126f Provide better dedupe logic in multiccd in edge collision case. 
PiperOrigin-RevId: 928519426
Change-Id: I67531d1c346b1b38c098eaf32c3b13fa7d0c8eaf
 2026-06-08 06:07:31 -07:00
Yuval Tassa 6c33e16bf1 Canonicalize mjVisual macros to include type and dimension. 
PiperOrigin-RevId: 928506110
Change-Id: If5d031f9d87892f13486ae9ccde23c16131212de
 2026-06-08 05:30:57 -07:00
Haroon Qureshi 543165a6cc Expose hsv2rgb as internally public function. 
PiperOrigin-RevId: 928464175
Change-Id: I57ef75f28663b0da89b9af7bf730d82b965093bf
 2026-06-08 03:44:50 -07:00
Haroon Qureshi b17b5f7918 Expose mjv_flexBodyIdAndPoint as a helper function. 
Use the above in studio rather than a custom implementation.

PiperOrigin-RevId: 928432476
Change-Id: I99d772c4baf7260abbf9ac8f6d8032704f1ba769
 2026-06-08 02:28:39 -07:00
Kyle Bayes 558366f364 Always normalize in planeNormal to reduce rounding errors in single precision. 
PiperOrigin-RevId: 926002329
Change-Id: I682f3b90249e60838c2432231b3181e57c565c28
 2026-06-03 07:04:12 -07:00
Yuval Tassa 7b9b88060e Refactor mj_fullM. This change is part of the deprecation of mjData.qM. 
PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
 2026-06-02 17:22:55 -07:00
Kyle Bayes 3a5626bc27 Align GJK internal memory to avoid misalignment segfaults when compiled as single precision. This is effectively a no-op under double precision. 
PiperOrigin-RevId: 925389982
Change-Id: I7117779669965ebf72cb77ccbece419acf9b1b96
 2026-06-02 09:15:26 -07:00
Yuval Tassa 062b0f1ea6 Remove deprecated mju_{error,warning}_{i,s} functions. 
PiperOrigin-RevId: 925204136
Change-Id: Ia877d08a135092db8037d04e6a237e81325a1d7c
 2026-06-02 01:59:05 -07:00
Alessio Quaglino 91c92279d2 Enable interior nodes for interpolated flex shell mode. 
Previously shell mode required cellcount=1 along at least one axis. This CL
adds support for cellcount > 1 in all three axes by pinning interior grid nodes
to the parent body and reconstructing their positions from boundary nodes via
Transfinite Interpolation (TFI).

PiperOrigin-RevId: 924314800
Change-Id: I8c2438f4866dd4133feed65f535a1ab69f0c9188
 2026-05-31 10:36:01 -07:00
Yuval Tassa 4548e81e4d Rename efc_diagApprox -> efc_diagA. 
The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.

PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
 2026-05-31 04:54:11 -07:00
Yuval Tassa cd6db9ebe2 Improve CG solver precision and stability under float32 via line search refactor 
Fixes #2313

This CL combines two complementary improvements to the Conjugate Gradient (CG) solver, significantly improving numerical precision, stability, and efficiency, particularly in single precision (float32).

1. Line Search Cost Evaluation Refactor: Previously, solver improvement was calculated by subtracting absolute costs: cost(alpha) - cost(0). In highly converged states or single precision, this is susceptible to catastrophic cancellation. We refactor PrimalSearch to compute the cost delta directly, dramatically improving precision.

2. Improved Solver Termination Condition: Near the float32 precision limit, line search deltas can occasionally be slightly negative due to numerical noise. Previously, any value below m->opt.tolerance (including negative values) triggered termination, halting the solver and locking in destabilizing steps. We update the termination condition to require positive improvement (0 < improvement < m->opt.tolerance), allowing the solver to continue iterating and recover stability.

Together, these changes yield substantial improvements, see reduced tolerances herein.

PiperOrigin-RevId: 924229669
Change-Id: Ic0bbefaed090f3a8b1e79ab8d45422c3e86fb56c
 2026-05-31 04:00:09 -07:00
Yuval Tassa 3a6e0ee9b3 Reduce effect of infinite planes on center and extent statistics 
PiperOrigin-RevId: 923868757
Change-Id: I3630d29f05a19e0767549284abbe8a8d9386894b
 2026-05-30 04:12:07 -07:00
Yuval Tassa 96bf8aea81 Move island-specific sparse matrices from arena to stack. 
PiperOrigin-RevId: 923850345
Change-Id: I9683d7554b15b7cd8c45a8dce7814640aa266452
 2026-05-30 03:09:46 -07:00
Yuval Tassa 5d782a2bb8 Fix memory overallocation in sparse primal solvers. 
PiperOrigin-RevId: 923586079
Change-Id: I8d484b840063c0a7a8a79c5bdc9074a57d2ee55f
 2026-05-29 13:51:47 -07:00
Kyle Bayes c7d340be4f Cap box<->box collisions. 
PiperOrigin-RevId: 923312868
Change-Id: I801d76cf1d1d7b9ed1535d3e3c723a5e8af4162a
 2026-05-29 03:52:57 -07:00
Copybara-Service 46d2405b42 Merge pull request #3288 from davidhozic:fix/strchr-const-char 
PiperOrigin-RevId: 923297843
Change-Id: I13b07c6cf0f611a8b3ee797dac94b35ce8d9deb4
 2026-05-29 03:16:33 -07:00
Copybara-Service 9af965f241 Merge pull request #3120 from Ashutosh0x:fix/safe-overflow-msvc 
PiperOrigin-RevId: 923296001
Change-Id: I037dcc55c91d6eb68b3e63b34a0e059c796b5116
 2026-05-29 03:12:40 -07:00
Kyle Bayes b612d352d4 Fix GitHub Actions for threading. 
PiperOrigin-RevId: 922926969
Change-Id: I968e6b130b6125dbc0ec65ba913d04292270b563
 2026-05-28 12:57:16 -07:00
Kyle Bayes b935d4153c Add new mju_threadpool API function, and delete old threading API. 
PiperOrigin-RevId: 922838541
Change-Id: Id9f7e0fb298ffde61fcc49a802dc78971858ce51
 2026-05-28 10:11:44 -07:00
Kyle Bayes 4035c66428 Fix multiccd edge bug that occurs in certain situations. 
PiperOrigin-RevId: 922251109
Change-Id: I74c08ae49d5dfd2a41b2dcd28eb9f2b5ba113216
 2026-05-27 11:32:45 -07:00
Alessio Quaglino f6c85287bf Optimize mj_flex performance. 
Two performance optimizations for interpolated flex objects:

1. Hoist loop-invariant stride calculations in `mju_cellLookup` out of nested loops.
   This reduces multiplications from 16 to 6 (linear) and 54 to 12 (quadratic)
   per vertex.

2. Extract and consolidate optimized 3D interpolation logic into a new
   reusable utility `mju_evalBasisArray` in `engine_util_misc.c`. This function
   uses nested loops and precomputed 1D shape functions to avoid expensive
   dynamic `phi` calls and branching, and leverages stack-buffered outputs to
   eliminate compiler pointer-aliasing barriers. We propagate this optimization
   to both kinematics (`mju_interpolate3D`) and constraint setup
   (`engine_core_constraint.c`).

Together these changes yield a ~50% overall speedup in `mj_fwdKinematics` for interpolated flexes with ~10k vertices in the collision meshes and ~10 nodes in the deformation grid.

PiperOrigin-RevId: 922198093
Change-Id: I9c804e65cd532e2f9ac6e9a71d01c30cd64186fa
 2026-05-27 10:05:30 -07:00
Ashutosh0x 0607dc450c security: fix integer overflow in safeAddToBufferSize on MSVC 
The MSVC fallback path in safeAddToBufferSize() performed unchecked
arithmetic (type_size*nr*nc) on attacker-controlled values read from
.mjb binary model files. This could cause integer overflow, leading
to an undersized heap allocation followed by a heap buffer overflow
when data is copied into the buffer.

The fix adds manual overflow detection using SIZE_MAX/INTPTR_MAX
comparisons, matching the behavior of the existing __builtin_*_overflow
path used on GCC/Clang.

Also adds a regression test that crafts a binary model buffer with
overflow-inducing size fields and asserts safe rejection.
 2026-05-27 17:01:01 +05:30
Michael Moss 79aeceeaa3 Update MuJoCo version to 3.10.0 following the 3.9.0 release 
PiperOrigin-RevId: 922027849
Change-Id: I52dd7fb5eeb962c2670ab5dbbe7ce192ac9332c5
 2026-05-27 03:50:22 -07:00
Alessio Quaglino f6cd0234fd Change tactile sensor normal component to report penetration depth. 
The normal component of the tactile sensor now reports the maximum penetration depth at each taxel, instead of a derived normal force. The depth is negated so that positive values indicate penetration.

PiperOrigin-RevId: 921980899
Change-Id: Ide4103c0aff465e25a81cfdda650f6a0e2da9e0b
 2026-05-27 02:00:34 -07:00
David Hozic 57e27f94f3 Fix compilation error 2026-05-26 14:50:11 +02:00
Yuval Tassa 393c1e4217 Migrate mjtByte to mjtBool for boolean-valued fields. 
PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
 2026-05-26 05:35:49 -07:00
Yuval Tassa 2810edd27a Rename mjtnum.h to mjtype.h, move enum types to mjtype.h 
PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
 2026-05-21 06:43:29 -07:00
Kyle Bayes ad96acfb16 Add internal mj_narrowphase for batch processing of potential geom pair collisions. 
PiperOrigin-RevId: 918988042
Change-Id: I871dcdf42f8105e2c8a57e275a3775ea46c69e65
 2026-05-21 05:16:35 -07:00
Kyle Bayes 7174d33f08 Introduce mjPreContact, a minimal struct passed into the collision functions. 
PiperOrigin-RevId: 918533795
Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
 2026-05-20 10:47:46 -07:00
Yuval Tassa f712eed4ce Allow flex sleeping 
PiperOrigin-RevId: 917817500
Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
 2026-05-19 07:15:27 -07:00
Copybara-Service a1056676a0 Merge pull request #3276 from dparikh79:fix/3275-boxqp-symmetric-lower-matvec 
PiperOrigin-RevId: 917279467
Change-Id: If4117b1e2147679336becb558e0f87621555dfc7
 2026-05-18 09:36:01 -07:00
Yuval Tassa 71d1014e70 Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472 
PiperOrigin-RevId: 916932908
Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600
 2026-05-17 16:47:54 -07:00
Yuval Tassa 04042d8bf3 Move square root of Delassus matrix from stack to arena 
PiperOrigin-RevId: 916852244
Change-Id: I4379553f808d0b238a1421606f806ea2d0a33d7c
 2026-05-17 11:21:55 -07:00
Dhruvil 71072c025d Honor lower-triangle contract for H in mju_boxQP. 
mju_boxQP documents that only the lower triangle of the Hessian H is
read, but the gradient and search-direction updates inside
mju_boxQPoption still called the dense mju_mulMatVec, which reads the
upper triangle as well. This violated the documented contract and
prevented callers from safely leaving the upper triangle uninitialized.

Add a file-local mulMatVecSym helper that computes res = H*vec while
reading only the lower triangle of H (mirroring the convention of the
existing mulVecMatVecSym quadratic-form helper), and use it in place of
mju_mulMatVec in both call sites. Extend the BoxQP test suite with
UpperTrianglePoisoned, which fills the strict upper triangle of H with
NaN and verifies that the solver produces the same result as on the
clean symmetric input.

Reported by @lshdlut.

Fixes #3275
 2026-05-17 13:56:53 -04:00
Alessio Quaglino 71ddeb3efc Add fast path for flex derivative computation in centered flexes. 
Introduce a fast path in mj_addFlexDerivatives for centered flexes where all nodes are attached to bodies with only 3 translational DOFs and no DOF-contributing ancestors. This allows for a direct scatter of K*vec, avoiding the overhead of sparse Jacobian construction and multiplication.

PiperOrigin-RevId: 916063477
Change-Id: I824728a5bdc3b975b04b46ecf22994922e307a8c
 2026-05-15 10:13:22 -07:00
Alessio Quaglino 093b92acc1 Add bounds check for cached node indices in passive mesh. 
The global node indices stored in face_gidx are now checked to ensure they are within the valid range of node numbers, raising an error if any index is out of bounds.

PiperOrigin-RevId: 916025763
Change-Id: I1d2dcb11603137c337493541066b62b2ed2854c0
 2026-05-15 08:50:49 -07:00
Alessio Quaglino 9fb548cadb Optimize flex bending edge computation by caching face states. 
In `mj_flexPassive`, precompute and cache face positions, global indices, and corotational quaternions for all faces. This avoids redundant calls to `mju_flexGatherFaceState` for each bending edge, as each face can be part of multiple bending edges. This gives a 3-4x speedup in mj_passive.

PiperOrigin-RevId: 915912918
Change-Id: I3e1c00cf2d989f85398a0750a0faf359249cfe01
 2026-05-15 03:32:01 -07:00