Introduced in March 2025 as a temporary measure, this is not considered a breaking change.
PiperOrigin-RevId: 758311298
Change-Id: Ia08857c18b791f6a62a2d8d136b45fc075507b93
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).
PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
This function extracts the 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. It is based on the paper "A robust method to extract the rotational part of deformations" by Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin.
PiperOrigin-RevId: 700006006
Change-Id: I77550993233dea9cdf68601762a3ae7ded749bdf
--
9d63ebca419496e36f94fbfec6f97f0227846cf5 by Balint-H <bkh16@ic.ac.uk>:
Throw exception if OBJ file is referenced in MJCF when loading in Unity
--
a50486c19a3483cd914e7957d7d4a5efaab9d977 by Balint-H <bkh16@ic.ac.uk>:
Adjust line length
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2248 from Balint-H:fix/unity-obj-warning a50486c19a3483cd914e7957d7d4a5efaab9d977
PiperOrigin-RevId: 699962619
Change-Id: I2edff691fd5cedf79e2564f2ac5f2115393a4bf6
This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.
PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
`nnames_map` is not required for `mjModel` construction, it is set during construction.
PiperOrigin-RevId: 696462793
Change-Id: Ie722e2a04d7fd7ed96634d3304cc94e895ed713b
`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.
PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
Yuval Tassa