Profiling `leaves.xml` with contacts disabled, this function takes up most of the time (in the implicit integrator). Total `testspeed` run time:
BEFORE: 18.5s
AFTER: 16.5
PiperOrigin-RevId: 896525902
Change-Id: I57f4a984d178956a2902212deb857bf53f53f01b
Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern.
Encoders serialize an mjSpec + mjModel to an mjResource for a given format.
New API functions:
- mjp_registerEncoder: globally register an encoder
- mjp_defaultEncoder: zero-initialize an encoder struct
- mjp_findEncoder: look up an encoder by filename extension or content type
The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and
returns 0 on success. Writing to mjResource keeps symmetry with the decoder
reading from mjResource and leaves the door open for writable resource providers.
PiperOrigin-RevId: 889187898
Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364
The computation of tactile sensor values for each taxel is now parallelized using the MuJoCo threadpool when the number of taxels exceeds a threshold. Each thread processes a batch of taxels, accumulating forces from all colliding geoms.
PiperOrigin-RevId: 888606457
Change-Id: I98abf3e98a7318fc14080054bea7093ab46e8b8b
When freeing a stack frame, only poison the newly-freed memory region
`[old_top, new_top)` instead of the entire region `[limit, top)`. The old
code redundantly re-poisoned already-poisoned memory on every
`mj_freeStack` call.
Benchmarking `engine_forward_test` under ASAN:
- Before: 99.3s
- After: 75.6s (~24% faster)
PiperOrigin-RevId: 885035750
Change-Id: Ib195661ca337d13c5ff6094bcc107c4c0a617b9b
The `grad` parameter in `volumetric_dSdx` and `invariant_dSdx` is not modified, but the `const` qualifier was inconsistent with how the array was being passed, requiring an unnecessary cast. Removing the `const` simplifies the function signatures and calls.
PiperOrigin-RevId: 884598322
Change-Id: Icac8071aa8e838057dd39c979c23a4f47e1dc22d
This change improves trilinear flex elements by using reduced integration for volumetric quantities (strain trace and volume ratio) at the element center, while adding full integration for shear components at 8 Gauss points and removing the second strain invariant from the constraints, which is negligible for small strains. This reduced integration "B-bar" technique is standard in finite element analysis and prevents artificial stiffness that can occur when low-order elements are nearly incompressible. The constraint count per trilinear element changes from 24 to 26 compared to using invariants. For quadratic elements, the full 27 quadrature point are used resulting in 162 constraints.
PiperOrigin-RevId: 884570752
Change-Id: Ib74ece8f4712c2c81fbfd784524fcac52a2c80e5
Use `__SANITIZE_ADDRESS__` (GCC) and `__has_feature(address_sanitizer)` (Clang)
to define ADDRESS_SANITIZER when the toolchain doesn't provide it natively.
Fixes#3160
PiperOrigin-RevId: 884447485
Change-Id: I48ef51bca8f5c5f15f62089e73cd8fa649723636
The next release will include breaking changes, so this bumps the major
version to reflect that.
PiperOrigin-RevId: 881351265
Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
The frustum_top and frustum_bottom assignments in mjv_updateCamera used
the wrong elements of the zver array, causing the principal point cy
offset to be applied with an inverted sign. This shifted the rendered
image vertically by 2*cy pixels.
Repro instructions (note compiler cache and threading must be enabled):
Assume we have a cube.stl mesh containing face data and the following XML:
<mujoco>
<asset>
<mesh name="cube" file="cube.stl"/>
<mesh name="unused" file="cube.stl"/>
</asset>
<worldbody>
<geom type="mesh" mesh="cube"/>
</worldbody>
</mujoco>
Suppose Thread A processes "cube" and Thread B processes "unused". Thread A will generate the mesh hull and will generate polygon data from faces from qhull. Thread B will NOT generate the mesh hull and will generate polygon data from faces coming from mesh file. Thread A beats Thread B to caching the mesh.
When "unused" is later pulled from the cache it gets the polygon data that was generated from "cube" which is not the same that was generated from "unused".
PiperOrigin-RevId: 878336494
Change-Id: I275b09b44490c54b2a5f09d91d0cc047026090f2
The flex-SDF algorithm uses the same logic as mesh-SDF. Previous to this change, the flex was instead colliding with the convex hull of the mesh generated automatically with marching cubes from the SDF.
PiperOrigin-RevId: 876420302
Change-Id: I3bf6552b6b8e108ba4c4209bbcf10fe5f2b2fd90
Deleted MAXMESHPNT farthest point sampling instead of sorting by penetration distance is now used to select the best contact points, up to mjMAXCONPAIR. Deleted MAXSDFFACE, the BVH traversal now directly calls a function to process each leaf face against the SDF, instead of collecting face indices and processing them in a separate loop. This reduces memory by removing the need to store all intersecting face indices.
PiperOrigin-RevId: 876296914
Change-Id: I8068d634e2a01ffa9357d0c5381219d097e97abe
This CL rolls back the change from changelist 794576123 since the previous version was more robust and stable. Compared to the original algorithm, this changes handles degenerate and very large triangles as well.
BEGIN_PUBLIC
Restore mesh-SDF collisions.
END_PUBIC
PiperOrigin-RevId: 875716983
Change-Id: If0de41dc7bbd60460779821d2338cf2d661f40d5
- Simplified constraint tree discovery with a unified iterator.
- Filling in a new `efc_tree` array to avoid calling tree discovery again in the constraint phase.
- Implemented dof skipping in the dense case for efficiency.
PiperOrigin-RevId: 875440387
Change-Id: Id44a5a6fe2a80edaaf30935506a023a307e21303
The reduced dense factorization for flex interpolation now considers all DOFs in the kinematic chain of the body containing the flex, using mj_bodyChain, instead of only the DOFs directly associated with that body. This is necessary for correctly handling pinned flexes when their parent body is part of a larger kinematic structure.
PiperOrigin-RevId: 872854468
Change-Id: Idbe9fb459084dde9e8eb1076c70dbb685c1b0bdb
This change introduces a filter for flex-related contacts, ensuring that no more than mjMAXCONPAIR contacts are kept for each geom-flex, flex-flex, flex internal, and flex self-collision pair. The contacts are sorted using farthest-point sampling:
- Starts with the deepest penetrating contact
- Iteratively selects the contact farthest from already-selected contacts
- Produces a spatially distributed set of contacts
PiperOrigin-RevId: 872593388
Change-Id: I50b233a0dc66da6a297852c258ba514f131c8f23
Yuval Tassa