1731baa925
Add links to all attributes in XMLreference.rst
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PiperOrigin-RevId: 517158584
Change-Id: Ia50a2840049e1c5c24eb2f571483d65537276296
2023-03-16 10:22:53 -07:00
448ab1a299
More consistent formatting of mjdata.h
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PiperOrigin-RevId: 517142236
Change-Id: I3ee93e10b843cb3f3a73a6a19e6b96f23be05cc3
2023-03-16 09:23:53 -07:00
8c7f6ce5a0
New implicitfast integrator and sparse RNE derivatives for implicit.
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PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:17:41 -07:00
056e849273
Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices.
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PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
2023-03-15 06:56:16 -07:00
fe18e58ad2
Rendering of mjGEOM_LINE respects size[0] (width argument of mjv_makeconnector), denominated in pixels.
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- Before this change, line width was hardcoded to 3 pixels and the width argument of mjv_makeConnector was ignored.
- After this change, the width argument is respected and interpreted in units of pixel. The non-standard width unit is ok since lines can only be drawn programmatically.
PiperOrigin-RevId: 516529265
Change-Id: I27bffabba69cde415d2ada67263a887c9240efbf
2023-03-14 08:17:36 -07:00
972770ba55
Improve order of sections in APIfunctions.rst
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PiperOrigin-RevId: 516518339
Change-Id: I84e973e6f9034a5d24f20791c13b3880fedde46c
2023-03-14 07:26:29 -07:00
b6080108c3
Ignore -Wdeprecated-declarations for NSOpenGLContext.
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PiperOrigin-RevId: 516500366
Change-Id: I39d974626e51627c767c52a7f90135963fdeb1c2
2023-03-14 05:53:35 -07:00
2f0fb1e4ef
Workaround for broken VSync in Simulate on macOS.
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OpenGL VSync became broken again in macOS 13 (https://github.com/glfw/glfw/issues/2249 ). This workaround is similar to https://github.com/glfw/glfw/pull/2277 but is implemented entirely outside of GLFW.
PiperOrigin-RevId: 516320722
Change-Id: Ib8a651a942f592c74e00ad3c7b22f2dfd156be5f
2023-03-13 14:19:17 -07:00
3abf2ae2cd
Increase maximum number of geoms in simulate from 5000 to 20,000.
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PiperOrigin-RevId: 516246198
Change-Id: I8a07a075b370ad0c212db8ed68b3d61389eba197
2023-03-13 10:16:12 -07:00
c16d4d0d25
Move mjtByte definition from mjmodel.h to mjtnum.h.
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PiperOrigin-RevId: 516193927
Change-Id: Idbba21119ef2f7da3ab6f6f21611a757658aad23
2023-03-13 06:38:46 -07:00
b4d29abfc1
Add table of contents to API Functions documentation page.
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PiperOrigin-RevId: 516191825
Change-Id: I792aa72e748443a3f422d0b6cf65a2803f3ec012
2023-03-13 06:26:52 -07:00
ae2c530d8b
Tighter axis-aligned bounding box for meshes.
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PiperOrigin-RevId: 516166936
Change-Id: Ie99217f8894bdd4bb093900fc0df9d4a1e5030d3
2023-03-13 03:54:33 -07:00
2f03da740a
Fix typos.
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PiperOrigin-RevId: 516135725
Change-Id: I094f6af5d3ef8dd6a93430c09c61f29c23f55e02
2023-03-13 01:01:45 -07:00
c57a588ab5
Re-organise API data structure documentation.
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PiperOrigin-RevId: 515515875
Change-Id: I743a0409eb9b867249a90d5c1cb4d77bacade4dc
2023-03-09 20:24:32 -08:00
d3d789cf7d
Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated.
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PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
2023-03-09 13:51:27 -08:00
2e6a37e8c5
Changelog: Move the image under the "Simulate" heading.
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PiperOrigin-RevId: 514666433
Change-Id: Ief3f10260fb071412fdd0d4b481fb10ee99b71ff
2023-03-07 02:09:16 -08:00
ac78f8aee9
Update CMake dependencies to latest versions.
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Upgrade abseil and pybind11.
PiperOrigin-RevId: 514397331
Change-Id: I4a35dc9f3b9dcc79bdd13016a5326f72cd3fc67f
2023-03-06 07:12:22 -08:00
93b4d4981d
Merge pull request #758 from PeterMitrano:main
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PiperOrigin-RevId: 514385239
Change-Id: Ie85f355f1bdcd0b81ff228b71685e37552f679ea
2023-03-06 06:38:00 -08:00
bddc4b88b2
Fix comment typos.
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PiperOrigin-RevId: 514360878
Change-Id: If119beec09d7eae568d8f6d8e3fa150ec7de88b6
2023-03-06 06:37:42 -08:00
ed52b4084e
Add missing affine gaintype to XMLreference.
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PiperOrigin-RevId: 514359011
Change-Id: I96668ed20dbb20b4d2b60a08eb71286bdfe5fe37
2023-03-06 06:37:26 -08:00
367c254f54
Remove .cc suffix from sample code titles.
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PiperOrigin-RevId: 514342526
Change-Id: I4484b70e1c4da7dc98e362cfef16195224d0c65e
2023-03-06 06:37:10 -08:00
49dd6b4193
Clean up mj_id2name and mj_name2id.
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PiperOrigin-RevId: 514340647
Change-Id: Idf895b2d7a4a8833725afbe5c71c777081b42d9e
2023-03-06 06:36:48 -08:00
fa4c55a21a
found another potential typo
2023-03-06 02:09:35 +00:00
277be19c5c
fix potential typo
2023-03-06 02:06:56 +00:00
222ee00a66
Break out passive force functions into a new file engine_passive.c
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PiperOrigin-RevId: 513834952
Change-Id: I5347440f24d767a7dc81a34e48e1e17d8c10173f
2023-03-03 08:32:16 -08:00
fd1070cf03
Delete remaining code related to now-removed distance equality constraint.
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PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966
2023-03-01 17:57:54 -08:00
50bebcb4ee
Precount number of non-zeros for constraint Jacobian sparse matrix.
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PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
2023-02-28 08:57:56 -08:00
90b5dd14ca
Fix issue where mj_addConstraint was writing values into efc_J_rowadr and efc_J_rownnz that are not needed.
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PiperOrigin-RevId: 512919818
Change-Id: I8ee7443a2bf2265934899673f8943a83cdd4ef69
2023-02-28 06:47:56 -08:00
f2413a5d55
Remove overwriting of particle geoms as spheres that was restored by mistake in commit d0b1a97.
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PiperOrigin-RevId: 512597403
Change-Id: Ifa29ccc405d1c98ffadf65b2cefa164067f95220
2023-02-27 05:09:39 -08:00
7e5419f806
Remove trailing spaces in printArray, printArrayInt, printVector, and printSparse.
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PiperOrigin-RevId: 512596881
Change-Id: Icfa955628b9a2955df73093b6c8df7751260adfb
2023-02-27 05:06:33 -08:00
2729f9fcf8
Merge pull request #740 from hyarion:fix/unity-fluidshape
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PiperOrigin-RevId: 511791324
Change-Id: I28e98e55efe43ba053b803838082646289e4f09e
2023-02-23 08:19:20 -08:00
cadab1f438
Make the word extent more clearly visible in documentation of zfar and znear.
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Fixes #746 .
PiperOrigin-RevId: 511719937
Change-Id: If697e2dd4992dfa3f345ae4caa25bd67d015a91b
2023-02-23 01:33:27 -08:00
42c3faa462
Add support for fluid coefficients to Unity plugin
2023-02-20 18:46:16 +01:00
7e7cb177a4
Cosmetic changes.
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PiperOrigin-RevId: 511008317
Change-Id: Id8d7cd4f4e22e0658857d16b47d51053f1477bb9
2023-02-20 09:23:32 -08:00
7542c90cd2
Improved behaviour of mouse-spring interactions.
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Also:
- Renamed recently introduced `mjvPerturb` member `reflocalpos` -> `refselpos` and corrected docstring.
- Added `mjvPerturb.localmass`: body spatial inertia at selection point.
- Removed `const` qualifier to `mjData` argument of `mjv_initPerturb()`, to facilitate spatial inertia computation.
- Improved `mj_Object{Velocity, Acceleration}` docstrings, clarifying that rotational velocities precede linear velocities.
- Removed redundant const qualifiers from non pointer arguments to `mju_dot` and `mju_writeNumBytes`.
PiperOrigin-RevId: 511002168
Change-Id: I27400f497947f330072d4abb7c9bf7e71e6c5d49
2023-02-20 08:40:33 -08:00
9756ed0d80
Read normals and textures from OBJ, do not duplicate vertices.
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PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
2023-02-17 10:15:25 -08:00
35967a30d9
Fix order of API function sections, add missing Plugins section.
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PiperOrigin-RevId: 510442237
Change-Id: I1fd4e309f33f45247eac84233745bfa35b5d796f
2023-02-17 08:50:25 -08:00
090c25988a
Split API reference pages into Data Structures and Functions pages.
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PiperOrigin-RevId: 510422950
Change-Id: I6b2eebab0c0020b80fec83094aa65c6a412e277e
2023-02-17 07:06:20 -08:00
2607e67f8d
Add contact labels showing which geom pairs are in contact.
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PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
2023-02-17 07:03:19 -08:00
09bc934f25
Add support for fluid shapes to Unity plugin
2023-02-17 13:15:29 +01:00
a6730aa740
Keep only immediate parent in XMLreference TOC header names.
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PiperOrigin-RevId: 510095682
Change-Id: I72973c955cce14a90f5af0037b2abc5f2ee3644c
2023-02-16 03:29:02 -08:00
9f79acd7da
Remove redundant space from XMLreference TOC titles
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PiperOrigin-RevId: 510076364
Change-Id: I59e0e7fd2f6eae9b89f5bb00f2192358da8abf7a
2023-02-16 01:47:38 -08:00
1552b988ff
Fix typo.
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PiperOrigin-RevId: 509919399
Change-Id: Idd1845a81b073e99d98148ffe73699af3cedcc6c
2023-02-15 13:41:50 -08:00
d26d7babe9
Merge pull request #734 from hyarion:fix/unity-load-balloons.xml
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PiperOrigin-RevId: 509832074
Change-Id: Ia8505b4ea83d8903052e72a12b914a8fd94a13df
2023-02-15 07:51:34 -08:00
6a85b5db45
Improve cartesian actuator example model.
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Significantly reduced joint-level damping, introduced damping in the actuators themselves. This reduces dynamics artifacts by matching the space in which damping and actuation forces are applied.
PiperOrigin-RevId: 509574523
Change-Id: Id99b69aea4562509c48ed1a24fb9ea3e008c0b69
2023-02-14 10:41:21 -08:00
ace5b74f83
Rename inteval attribute in mjLROpt to interval.
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PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
2023-02-13 10:54:25 -08:00
db28c31f05
Rename <required> tag to <plugin>.
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PiperOrigin-RevId: 509237786
Change-Id: I35e812830b479004ac5025cbd9477888f51fb43e
2023-02-13 08:41:52 -08:00
239e00e3b1
Fix typo in the error message for distance equality constraints.
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PiperOrigin-RevId: 509227257
Change-Id: Ibf501f267e513c504e527f3fe7a26d4f29e78273
2023-02-13 07:58:03 -08:00
87bc8d0ed2
Fix spelling in MjcfImporter
2023-02-13 12:02:55 +01:00
8599d80b4d
Apply tendon defaults on fixed and spatial tendons
2023-02-13 12:02:29 +01:00
Yuval Tassa