2b192cebb6
PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1.
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This makes mj_forward calls idempotent if warmstart is disabled and quats in qpos are normalized.
PiperOrigin-RevId: 564442666
Change-Id: I9c43add82bcfb4101c19fbfbfc8c30091b8906d5
2023-09-11 11:09:53 -07:00
860f7b376a
Fix GCC and MSVC build.
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PiperOrigin-RevId: 564390190
Change-Id: Icba3eefb394b8d17798679dd9876f127fba5a599
2023-09-11 08:17:08 -07:00
78183e60e1
Refactor thread pool implementation.
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- Make mjTask non-opaque and remove C++ Task class.
- Make C++ thread pool a subclass of a skeletal mjThreadPool C struct.
- Make the mjTask status enum more consistent with the rest of MuJoCo.
- Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct.
- Rename files in thread/ to be more consistent with the rest of MuJoCo.
- Run threading tests in CMake.
- Allow use of C++20 designated initializers.
Otherwise the functionality remains identical.
PiperOrigin-RevId: 564374675
Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
2023-09-11 07:20:34 -07:00
0ba10cc4f0
Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat}
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Fixes #409
PiperOrigin-RevId: 564217402
Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
2023-09-10 15:25:59 -07:00
a07e172770
Make MuJoCo work with -fsanitize=alignment.
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PiperOrigin-RevId: 563702045
Change-Id: Ieca69595b7e2fc1e35ca69754d7cc7971825f48b
2023-09-08 03:29:34 -07:00
7e5a7b76fc
Change GitHub org name to google-deepmind.
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PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
2023-09-07 12:34:20 -07:00
1a3215e329
Fix typo in changelog.
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PiperOrigin-RevId: 563399339
Change-Id: I59b6e70bbde64d06a581b45ed529de09603ef8f8
2023-09-07 05:23:23 -07:00
040d3efce2
Add options for controlling early termination criteria of CG/Newton linesearch.
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Useful for performance tuning models.
PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
2023-09-06 12:02:58 -07:00
48d0bfde44
Replace glfw.get_time with time.time in the Python viewer timing logic.
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PiperOrigin-RevId: 563134207
Change-Id: Ic548701fc78336d8d87e94ea48833f94ee6395b8
2023-09-06 09:52:12 -07:00
ba66bd4f8b
Fixes to documentation:
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1. Cleaned up changelog, fixed some typos, removed nested admonitions.
2. Added missing documentation for `mjfResourceModified` function type.
PiperOrigin-RevId: 562859015
Change-Id: I34dc4f3131561cbe95be3127e6e318cc4b803a24
2023-09-05 12:36:28 -07:00
4929077211
Remove mjMARKSTACK and mjFREESTACK macros.
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PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
2023-09-05 11:41:43 -07:00
329ed193ac
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
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PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
2023-09-05 11:05:04 -07:00
8ffdee355a
Add new header to correct warning for placement new
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PiperOrigin-RevId: 562800238
Change-Id: I94c883488391f7e95347eb2fe8dc291125233fff
2023-09-05 09:20:40 -07:00
d5292976de
Add internal utility for zeroing int vectors.
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Remove unnecessary branches in related functions.
PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
2023-09-05 07:15:14 -07:00
f976d6d228
Use a raw function pointer instead of std::function objects in thread pool.
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std::function can have an allocation cost when it's created, and also adds overhead to function calls. Since this API must be used from C, using a raw function pointer is good enough.
PiperOrigin-RevId: 562760324
Change-Id: I2b714a13e07a2b71566d013f21f76c506e817a52
2023-09-05 06:31:05 -07:00
edbe9ce86f
Correct use of number_of_threads_ in an array length definition. It should be max_number_of_threads to allow Windows to compile it, GCC tolerates the variable length array.
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PiperOrigin-RevId: 562743538
Change-Id: I5dc6dfb54002a996fe129b91e599cccfc9420e9c
2023-09-05 05:06:29 -07:00
6225186964
Add threading primitives.
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PiperOrigin-RevId: 562649644
Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
2023-09-04 20:09:19 -07:00
94a8705ad0
Add mj_markStack and mj_freeStack as public API functions.
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Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function).
PiperOrigin-RevId: 562625645
Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
2023-09-04 17:04:11 -07:00
9308e1d383
Add internal utility for zeroing int vectors.
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PiperOrigin-RevId: 562608956
Change-Id: I25ff1bbf9abf8fe2a636ed1d728d10ae862e04c9
2023-09-04 14:27:11 -07:00
1aa375ef9a
Allow RHS vector in mj_mulM_island to use uncompressed memory.
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PiperOrigin-RevId: 562605681
Change-Id: If34bceed9eade59957ac9fd9b6a41fb736b58024
2023-09-04 13:56:54 -07:00
600c12533d
Add mj_constraintUpdate_island.
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PiperOrigin-RevId: 562581620
Change-Id: If156a02873168127e2c5f2f377532fd45f7eec1c
2023-09-04 10:33:34 -07:00
b7686440d1
Indent a couple of #ifdef bodies.
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PiperOrigin-RevId: 562572883
Change-Id: I44e2d6dc486ed7a181ca4614b1bf3f2f762f52f9
2023-09-04 09:32:35 -07:00
5cef4708f2
Allow mj_mulJac(T)Vec_island to read and write from uncompressed vectors (length nv or nefc).
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PiperOrigin-RevId: 562547310
Change-Id: Id517c1842e711639f4113d23cc364945839a3759
2023-09-04 06:51:51 -07:00
0e36f00857
Fix more mjData stack leakages.
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PiperOrigin-RevId: 562545230
Change-Id: I2facf25b00878669dc12d5865767a44229d2ca48
2023-09-04 06:38:50 -07:00
5a21e202ed
Eliminate mjContact copying during collision detection.
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This results in approximately 4-5% speedup in collision detection for particle.xml.
PiperOrigin-RevId: 562526634
Change-Id: Ia6487b1908618064d858bac484fe6861ed37a402
2023-09-04 04:46:26 -07:00
feb8aa2fbb
Fix bugs in engine_island.c
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PiperOrigin-RevId: 562519702
Change-Id: I3075e539ccc1cef92485152721a9344f180aa4b1
2023-09-04 04:06:39 -07:00
89f47c33e4
Fix mjData stack frame leakages.
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PiperOrigin-RevId: 562091591
Change-Id: Ia7bb8a70ccba6bd40edc06ad8ebfac16e4286836
2023-09-01 17:57:39 -07:00
33f51856c1
Check that alignment is power of 2 in mj_stackAlloc.
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PiperOrigin-RevId: 562024496
Change-Id: I9230c6dc05ebb78e935f9b2f606aa77c921d67e5
2023-09-01 12:45:35 -07:00
29aa5e4a41
Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.
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PiperOrigin-RevId: 561951337
Change-Id: I1310d7c09d9a85ad9b43877155844a9d0ce6edab
2023-09-01 07:40:16 -07:00
70c5fa50f2
Improve island-constraint testing model.
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PiperOrigin-RevId: 561931744
Change-Id: I2826d4c5b987cc6edd761026f6734fe40fb31278
2023-09-01 05:52:00 -07:00
5279ce6f6f
Fix comment typo in simulate.cc
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PiperOrigin-RevId: 561921946
Change-Id: I423378df566be7a6ad88fb3526769d298ac32a3b
2023-09-01 04:56:34 -07:00
02e819e76a
Tighten const qualifiers of mjData in Jacobian multiplication functions.
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PiperOrigin-RevId: 561711229
Change-Id: I66dc1d2fbcfbf8e935b244fe496ada314d53b135
2023-08-31 11:27:15 -07:00
f9c57f6213
Refactor a loop in mj_constraintUpdate.
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PiperOrigin-RevId: 561684763
Change-Id: Ifbca1793760ecb49f4b48a1a236bd7c1c6e73d0e
2023-08-31 09:59:40 -07:00
eaa2572a8b
Add private function mj_mulJacTVec_island for Jacobian transpose multiplication with sub indices corresponding to one island.
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PiperOrigin-RevId: 561672392
Change-Id: Ic72fd7de2a542603cc42e1c15ecb4edd27a9a986
2023-08-31 09:12:34 -07:00
85fd922b37
Add private function mj_mulJacVec_island for Jacobian multiplication with sub indices corresponding to one island.
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PiperOrigin-RevId: 561648540
Change-Id: I8080a620807e824b40b5d6ba484beb06d081d444
2023-08-31 07:28:24 -07:00
9fd186ac2b
Add private function mj_mulM_island for mass matrix multiplication with sub indices corresponding to one island.
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PiperOrigin-RevId: 561639405
Change-Id: I3777cea51ef22f6847b3cf3e17bdac5cf621c019
2023-08-31 06:42:33 -07:00
129abc6bca
Add private function mj_solveM_island for mass matrix solve with sub indices corresponding to one island.
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PiperOrigin-RevId: 561622962
Change-Id: Ib43f03b3dd0c7456c57d4ba45a68e0708bf1c91c
2023-08-31 05:11:00 -07:00
ba5cf4d54d
Address -Wint-conversion issues.
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PiperOrigin-RevId: 561604684
Change-Id: I31af8621f8506d2e029c4ca630982f82ea4cfca9
2023-08-31 03:25:02 -07:00
43a0bd3646
Formatting improvements to docs Overview chapter.
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PiperOrigin-RevId: 561586361
Change-Id: Ib529cbd49cebf26d802d023d12d973491e41d3ad
2023-08-31 01:43:44 -07:00
ac150f751d
Clean up mj_mulM.
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PiperOrigin-RevId: 561404770
Change-Id: Ie802f5d7f1df6bf32d4549d3db6809d0f507d1e1
2023-08-30 11:46:55 -07:00
f371ca7a4e
Add missing face attribute to the XML schema.
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PiperOrigin-RevId: 561330536
Change-Id: I693fc5228591e4a26ea0749435a6ce9869afd457
2023-08-30 07:08:10 -07:00
16ee0dfde5
Add modified callback to resource providers (for caching purposes).
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PiperOrigin-RevId: 561327623
Change-Id: Id6683f6d6d32ee91019aba46599c28cbffe29df6
2023-08-30 06:53:20 -07:00
273c23038c
MakeParticle and elasticity plugin refactoring.
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- Removed the explicit dependency on a plugin name.
- Creation of particles from user-defined vertices (if a plugin is present).
- Add skin support for an irregular mesh
- Fixes #642 and #674 .
PiperOrigin-RevId: 561313771
Change-Id: I450f91f0d3b578cc18d97ed7180a0a8944b7dd41
2023-08-30 05:40:27 -07:00
f86e8b449f
Refactor VFS logic out of ResourceProvider plugin code.
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PiperOrigin-RevId: 561302536
Change-Id: I952f9e76e85a7e3a111e0338f307378a6ff58197
2023-08-30 04:47:24 -07:00
215433f5f7
Implement mj_stackAlloc and mj_arenaAlloc alignment using bitwise-and.
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This implementation explicitly avoids calling division instructions (which are generally expensive) even when link-time optimization is not active or if the alloc functions aren't inlined for some reason.
Also make mj_stackAlloc cheaper for external callers who may be linking against MuJoCo dynamically (and therefore cannot benefit from inlining).
PiperOrigin-RevId: 561299565
Change-Id: Iea4be5bf6d351ddf0c9d1fd8bd89a0c207b39309
2023-08-30 04:29:18 -07:00
4c899b92cc
Rename mj_stackAllocByte to mj_stackAlloc and make it public.
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PiperOrigin-RevId: 561133040
Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da
2023-08-29 14:07:54 -07:00
a48e0aa355
Use size_t for the mjMARKSTACK temporary variable.
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This is necessary since daa2ac7f8b
2023-08-29 11:39:01 -07:00
d3ed16e78f
Add mjData.dof_islandind, indexing from dofs into islands.
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Also fix bug in allocation for constraint islands, added allocation for limit constraints.
PiperOrigin-RevId: 561083128
Change-Id: I9e01d5a5b7454ec3cf60bccadaa0f96f2c0d87d1
2023-08-29 11:06:17 -07:00
daa2ac7f8b
Rename nstack to narena, change it and pstack to count bytes.
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PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
2023-08-29 10:13:33 -07:00
b979a26b10
Rename mj_stackAlloc to mj_stackAllocNum.
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PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
2023-08-29 08:43:03 -07:00
Yuval Tassa