chenlin/Mujoco_WASM
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1386 Commits

Author SHA1 Message Date
Kyle Bayes 12b40b948e Remove MuJoCo stack calls in nativeccd. 
1. There is now thread local static memory for use with a conservative max number of iterations needed for contact.
2. For possible needs of high precision contact recovery with large iteration numbers (i.e. ellipsoid-ellipsoid collisions), there are callbacks to allocate memory when needed.

PiperOrigin-RevId: 739187134
Change-Id: I3d210f75218922d969c78465da3fe50da4fe3080
 2025-03-21 08:20:51 -07:00
Alessio Quaglino dc96ed6bdb Remove plugins that are not referenced after detaching a body. 
Fixes #2497.

Also, use `Release()` instead of `delete` for removing elements when detaching a body in order to preserve correct reference count.

PiperOrigin-RevId: 739133888
Change-Id: I7ccfad84446fb15259bad30c4ba1e6f7fa601518
 2025-03-21 04:34:05 -07:00
Tom Power 8d92a0fbe6 Clear body subtreedofs when compiling. Fixes issue when attaching previously compiled model. 
PiperOrigin-RevId: 738906593
Change-Id: I74875b4d07c422e397358dff5daf6682ec1bd655
 2025-03-20 12:52:36 -07:00
Tom Power be64747166 add mjs_detachDefault to delete a default class from mjSpec 
PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
 2025-03-19 10:31:04 -07:00
Kyle Bayes a1b9ffd124 Fix memory over-allocation in nativeccd. 
PiperOrigin-RevId: 738383181
Change-Id: Ibf9e2b146da671e8d3a48339c8f4c6813f537456
 2025-03-19 07:08:21 -07:00
Alessio Quaglino 209d2bd2c5 Added functionality for user payload data in mjSpec. 
PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
 2025-03-19 04:36:00 -07:00
Kyle Bayes dc50fbbb9b Add safeguard if n is invalid in GJK. 
PiperOrigin-RevId: 738340065
Change-Id: I2288eb731621e5b84dcc0f078d8dbd84dca94cd4
 2025-03-19 04:21:11 -07:00
Yuval Tassa efe213a7b3 Cosmetic improvements to src/xml/ source files. 
PiperOrigin-RevId: 738010419
Change-Id: Idb90a42a374682450737684e67388329c184c777
 2025-03-18 08:12:29 -07:00
Yuval Tassa 205599ac1a Cosmetic improvements to src/user/ source files. 
PiperOrigin-RevId: 737930914
Change-Id: I1cc254d420fcdf0c42ec3d2f601e5a02d925d958
 2025-03-18 02:59:12 -07:00
Alessio Quaglino bae5175cf2 Accumulate rotation after updating pos and quat in replicate. 
Fixes #2501.

PiperOrigin-RevId: 737929158
Change-Id: I0cad2de37190f1d30d427ae646acbde335b5be56
 2025-03-18 02:51:05 -07:00
Alessio Quaglino 1bf24e9f67 Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site. 
PiperOrigin-RevId: 737662046
Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
 2025-03-17 10:21:38 -07:00
Alessio Quaglino da04688071 Automatically compile mjSpec in to_xml(). 
Also, move mj_compile from MjModelWrapper to MjSpec.

PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
 2025-03-17 09:21:10 -07:00
Alessio Quaglino 35774706ee Set parent frame of new frames after copying all frames. 
PiperOrigin-RevId: 737620918
Change-Id: I8f49570cab39bd84b2da908d3683dddc3b29cb3c
 2025-03-17 08:19:04 -07:00
Kyle Bayes b10b0b7055 Cache all processed mesh data. 
PiperOrigin-RevId: 737576455
Change-Id: I87628ce7842d0d7d0e7fe02eb9afb2ddefa68ff8
 2025-03-17 05:20:41 -07:00
Kyle Bayes 1a67aaf1b7 Remove pointers from BVH for caching in mjCMesh. 
PiperOrigin-RevId: 736849392
Change-Id: I684cca918c65718b29a1bcb41ecd6bad8d88f8f9
 2025-03-14 07:01:18 -07:00
Alessio Quaglino f25fc63f0f Default flex internal contacts to "false". 
This function is unusual in the context of soft body simulations and has been a common gotcha for users, see e.g. #2500, #2079, #1900, and #1433. It should be used only if element inversion cannot be prevented otherwise.

PiperOrigin-RevId: 736822983
Change-Id: I76b0965c91c94dd88123826d218d7544ec37a88c
 2025-03-14 04:55:09 -07:00
Alessio Quaglino 8e300eb628 Update list ids immediately during body detach. 
Fixes #2499.

PiperOrigin-RevId: 736449320
Change-Id: Ieeae52bdbbbb896d886221ab088229c8287a32a3
 2025-03-13 03:55:58 -07:00
Tom Power 8f4c5c4b16 add support for non-rgb textures in xml_native_writer 
PiperOrigin-RevId: 736221430
Change-Id: I83c19e06f0f7be054a88c3e894807e7b90ee012a
 2025-03-12 12:17:32 -07:00
Google DeepMind 5c3bab4d09 Change default metallic value to 0, as per the XMLreference doc. 
See https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-material-metallic

PiperOrigin-RevId: 736190166
Change-Id: Ic841df9510aff5df8f5ea3394732ab65b550aa65
 2025-03-12 10:54:29 -07:00
Alessio Quaglino 775c45c60e Do not lookup compiler options by name when attaching. 
Also, fix a pre-existing bug that caused incorrect compiler option propagation with nested attachments.

Fixes #2480.

PiperOrigin-RevId: 736156202
Change-Id: Ib430493e8c60556c2312603198587b39de9b8a4a
 2025-03-12 09:18:47 -07:00
Kyle Bayes 995bbf0f0f Refactor and fold in code into Process in mjCMesh for caching. 
PiperOrigin-RevId: 736052216
Change-Id: Ia0e055fd99ce429b9dee97f3f9effbf2fa1aa4f9
 2025-03-12 02:12:53 -07:00
Yuval Tassa de48f4178f Add missing term in mj_jacDot 
PiperOrigin-RevId: 735686836
Change-Id: I813ca46f71e368ddc97a6d2e540102137b31dbcf
 2025-03-11 03:01:29 -07:00
Alessio Quaglino 019e0a806c Throw an error if a child attached by reference to a parent is compiled. 
Fixes #2482.

PiperOrigin-RevId: 735665098
Change-Id: Ia3436fdd2ff572f8f0c1ded434742a4a9186f2f7
 2025-03-11 01:24:17 -07:00
Alessio Quaglino 14dc6fd33b Do not use inertia during mesh compilation. 
Fixes #2479.

PiperOrigin-RevId: 735387473
Change-Id: Ib241f2a0efc100bbe2cec24e0399bfcc87268094
 2025-03-10 08:35:33 -07:00
Tom Power e7a715497e Write mesh inertia to defaults when exporting to xml. Fixes #2478 
PiperOrigin-RevId: 735338748
Change-Id: Id0b71d06c77baef417f7968ae8a14154243a1f83
 2025-03-10 05:31:55 -07:00
Alessio Quaglino adc3cc06fa Change private->public spec for error checking in mjCSkin recompilation. 
Fixes #2485.

PiperOrigin-RevId: 735323174
Change-Id: Ifcc2055f6a74afaa18ad5228633f36f760adcffd
 2025-03-10 04:19:40 -07:00
Kyle Bayes 4d024f9421 Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation. 
PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
 2025-03-07 05:17:49 -08:00
Yuval Tassa a816ca6dd5 Use qLDiagInv instead of qLD in engine_vis_interact.c 
PiperOrigin-RevId: 734399015
Change-Id: I97c80a8b25dbd40e86560c328cc786a0bed6a2d1
 2025-03-06 21:15:36 -08:00
Yuval Tassa 109a223cf6 Narrow some includes in src/user/ 
PiperOrigin-RevId: 734389490
Change-Id: I2834aadbbb38b396536e467c0dfea11dcc21972f
 2025-03-06 20:45:18 -08:00
Alessio Quaglino e04e0e5c3d Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency. 
PiperOrigin-RevId: 734153759
Change-Id: Ic17d7c8a6e53fba04da511d405c815a723c5e55b
 2025-03-06 08:28:36 -08:00
Kyle Bayes 37d6d7792a Fix bug with handling of invalid maxhullvert values (smaller than 4). 
PiperOrigin-RevId: 734136442
Change-Id: I531e5a5b9244e026a9368e0d6a83d2b559c1b58d
 2025-03-06 07:33:41 -08:00
Yuval Tassa 0f563ecf31 Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism. 
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
 2025-03-04 17:34:35 -08:00
Yuval Tassa 7d9df8c9a9 Fill-in qM CSR matrix structure on mjData (currently unused). 
PiperOrigin-RevId: 733258529
Change-Id: I903548ae60139e4858550194e1aedf0efa2f3033
 2025-03-04 03:20:11 -08:00
Yuval Tassa 8f37ae1bf2 Add missing fields in mj_printData, don't print integration-related fields if identically zero. 
PiperOrigin-RevId: 732917127
Change-Id: Ia5fe8e4b6c2485fcf4336847535c1cc72b9d6d62
 2025-03-03 07:34:14 -08:00
Alessio Quaglino 7651cb1b33 Copy texture coordinates from OBJ into flex. Fixes #2464. 
PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
 2025-02-28 06:04:19 -08:00
Kevin Sayed 06e217df7e [MJ3.3.1] Bumping internal version number. 
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
 2025-02-27 14:53:28 -08:00
Kevin Sayed 9996500de9 update the version number to 3.3.0 instead of 3.2.8 
PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
 2025-02-26 11:42:55 -08:00
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Kyle Bayes 4f691eeae4 Fix minor issues in EPA in nativeccd. 
PiperOrigin-RevId: 731327356
Change-Id: Iba8215b7991ef74bf890c8da7e9332474e19e9c3
 2025-02-26 08:28:35 -08:00
Kyle Bayes bd66fbd046 Fix return value in mesh edge contact in nativeccd. 
PiperOrigin-RevId: 730924994
Change-Id: Iab4f26da126713bae6629eef502bb2aad690c595
 2025-02-25 09:54:05 -08:00
Alessio Quaglino ed7adf3d17 Do not namespace the body that contains the frame during mjs_attachFrame. 
PiperOrigin-RevId: 730912252
Change-Id: I026993af648766c09d569709d268430207d83169
 2025-02-25 09:16:44 -08:00
Kyle Bayes fbe0990b17 Fix bugs in nativeccd with collisions with margin. 
PiperOrigin-RevId: 730903745
Change-Id: I45ddb674f32cb1f28ff37c587ea953ec595241b3
 2025-02-25 08:51:21 -08:00
Alessio Quaglino ce82b63155 Add mjs_attachFrameToSite. 
This is required in preparation of changing the spec.attach behavior in the Python bindings.

PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
 2025-02-25 03:21:05 -08:00
Alessio Quaglino 14c8dc62f0 Add termination character to flattened plugin attributes if empty. 
Fixes #2450.

PiperOrigin-RevId: 730521722
Change-Id: Iec3fa377c65693d782eeb766a144a1c89096d1f3
 2025-02-24 11:07:18 -08:00
Kyle Bayes 024616345d Support edge contacts with multiccd in nativeccd. 
PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
 2025-02-24 09:48:43 -08:00
Kyle Bayes a6f1dc5e9e Match faceset type to intersect res param type in nativeccd. 
PiperOrigin-RevId: 730470904
Change-Id: Id7b3712c10d5ec871e2d272036e4e87c1e8620e0
 2025-02-24 08:58:10 -08:00
Kyle Bayes ae1c3b7ec0 Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom. 
PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
 2025-02-24 08:14:04 -08:00
Alessio Quaglino b3aa5df68a Improve composite docs and changelog. 
PiperOrigin-RevId: 730394496
Change-Id: Ie993214deb82b526a96510e02f6ecff103c58607
 2025-02-24 04:26:35 -08:00
Alessio Quaglino c52d1b3941 Remove the particle composite (replaced by replicate). 
PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
 2025-02-23 03:14:11 -08:00
Alessio Quaglino 0fcd20f0da Remove grid from composite types. 
Replaced it with flexcomp in the models.

PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
 2025-02-23 01:31:41 -08:00