- Compute efc_J_rowsuper incrementally in mj_addConstraint instead of post-hoc via mju_superSparse.
- Better exploitation of supernodes in A matrix pipeline: precount and fill skip redundant chain traversals for supernode rows.
- Redundant B_rowsuper computation via mju_superSparse is eliminated (indentical to efc_J_rowsuper).
PiperOrigin-RevId: 910787825
Change-Id: I6eda9996659602b7051ee1090aeedb862603c84e
This change adds a new passive force computation for flexes with elastic2d="bend" and dof="trilinear". The bending energy is based on the squared difference of normals between adjacent face elements at their shared edge midpoint. The edge data is precomputed during model compilation and stored in flex_bending.
PiperOrigin-RevId: 910772638
Change-Id: I3b12c7b7f1ba6ac1875df495d89e8cfec921ca80
Rename mjrf_render to mjrf_renderScene to avoid naming collision.
This function is will be removed in a future CL.
PiperOrigin-RevId: 910764245
Change-Id: If4d05e806a9699570ca4bbc882f28bfdd05dbd8d
There are still a few places where the compat library is downcasting
to the internal types due to limitations in the public APIs.
PiperOrigin-RevId: 910646480
Change-Id: I1ccb6714db08a2010d9535f59338e5eba06d1d35
Modify EigendecomposeStiffness to project out rigid body translations and rotations from the stiffness matrix eigenvectors. This prevents "ghost damping" from rigid body modes being incorrectly constrained. Update hollow_vs_solid.xml with solimp parameters for edge constraints. Adjust engine_core_constraint_test.cc to reflect the reduced number of equality constraints due to the projection.
PiperOrigin-RevId: 910631207
Change-Id: Ibaaa59bc030cfc6ae657d8f0d1b2a51002cc8d4e
Total testspeed runtime for `2humanoids100.xml` reduced by 19.6% (49.5 -> 39.8s).
PiperOrigin-RevId: 910608140
Change-Id: Ided0ae5bdb8e4e8196f84e08354a9ae8cfa5b626
Also provide a header-only C++ library that wraps created objects into
unique_ptrs.
PiperOrigin-RevId: 910607824
Change-Id: I0427f6dedab6aa299b3128031b055bd4d0c8e497
This change introduces MjVFS, an explicit object to mirror the C mjVFS. This is meant to replace the MjSpec.assets dict. This latter while convenient guides users towards harmful authoring patterns with respect to data duplication and spec attachment workflows. Making VFS management explicit should encourage better memory usage and allow us to make better compile time optimizations.
From this change, `spec.assets` is deprecated. However we will temporarily support backwards compatibility due to the wide spread usage. An error will be thrown if calling code tries to use a spec that uses both the assets dict and the new MjVfs.
PiperOrigin-RevId: 908772050
Change-Id: I77c6d0369307fc300c954768fed17401261e18da
mjSENS_INSIDESITE uses xipos to test containment, but for massless flex
parent bodies xipos equals the static body frame origin and does not
track the actual flex position.
Fix: in the INSIDESITE sensor case, when the object is a massless body
with positive subtree mass (i.e., a flex parent), use subtree_com
instead of xipos. This correctly reflects the mass-weighted centroid of
the flex child bodies without changing the global semantics of xipos.
PiperOrigin-RevId: 908745144
Change-Id: I527f0efb7b419345188411c9da883505156ebeea
The `vert0` array, used for parametric vertex coordinates in flexes, is now computed in the flex's local, unrotated frame when using interpolation. This ensures that the parametric coordinates are independent of the flex's initial orientation. A new test confirms that `flex_vert0` is identical for an unrotated and a rotated flex grid.
PiperOrigin-RevId: 908196464
Change-Id: I47d6bcc2bc5df581479d485480e0e947ec6d3ffd
The code for computing passive forces for flex elements is moved into new static functions `mj_flexPassiveInterp`, `mj_flexPassiveBend`, and `mj_flexPassiveStretch`. This improves the structure of `mj_springdamper`.
PiperOrigin-RevId: 907671516
Change-Id: I6d1e781bbd370331ae645a954b78092ecb1925b9
When elastic2d="stretch" is set on an interpolated flexcomp, treat the bounding box boundary as membrane elements rather than volumetric cells. This computes plane-stress stiffness over the boundary faces and updates the runtime force/derivative kernels accordingly.
Interior vertex tracking (moving vertices that follow the deforming shell) is not yet implemented so all mesh vertices need to be on the bounding box surface or the background grid should have no interior nodes (i.e. cellcount should be 1 on at least one axis).
PiperOrigin-RevId: 907654080
Change-Id: I51b90e2f6a1d1b036f9604e42de20e377dc5d3f9
Moves all internal types and structs to the "public"
render_context_filament.h header file.
PiperOrigin-RevId: 906929736
Change-Id: I7e7c315fb99a3601b09841073eaeec795718b999
Total testspeed runtime for `2humanoids100.xml` reduced by 27.6% (63.4 -> 49.5s) due to early termination on small islands
PiperOrigin-RevId: 906910915
Change-Id: If55ad468c3680ef44eda7000455a77f8003b3122
Haroon Qureshi