chenlin/Mujoco_WASM
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56 Commits

Author SHA1 Message Date
Alessio Quaglino b81f1db8af Replace SdfLib with linear octree interpolation of TriangleMeshDistance. 
Temporary changes to the octree:
- Changed frame from mesh to geom

Before change (tolerance 1e-3):
```
 Simulation time      : 2.34 s
 Steps per second     : 4275
 Realtime factor      : 8.55 x
 Time per step        : 233.9 µs

 Newton iters / step  : 2.26
 Contacts / step      : 3.69
 Constraints / step   : 14.76
 Degrees of freedom   : 12
 Dynamic memory usage : 0.7% of 14M
```

After change (6 octree levels):
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
 2025-07-09 06:21:41 -07:00
Rishi Krishnan 2a32babb78 Update Mujoco Deps in preperation for the 3.3.4 release 
PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
 2025-07-08 14:21:53 -07:00
Sam Haves 2e8e38b492 Add double quotes when setting rpath property fixing handling of lists. 
PiperOrigin-RevId: 776549203
Change-Id: I51375c536729356f023076037ec1f5335d407fa4
 2025-06-27 05:57:36 -07:00
Kevin Sayed f978b4eea3 Release notes for 3.3.3 + update git hashes. 
- Upgraded dependencies versions.
- Added release date for 3.3.3
- Reordered changelog to be a numbered list.

PiperOrigin-RevId: 769808336
Change-Id: Iffa074f52ef2e3f9d450ce6973a7e85980417367
 2025-06-10 14:49:17 -07:00
Gabe Oppenheimer da1850760a Prepare for v3.3.1 release. 
PiperOrigin-RevId: 745602958
Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02
 2025-04-09 08:40:30 -07:00
Kevin Sayed e1f18a747e Update dependencies and the changelog ahead of the 3.3.0 release. 
PiperOrigin-RevId: 731406295
Change-Id: I05027722a9681f71549b7e022dfe13fc381b8564
 2025-02-26 12:07:55 -08:00
Gabe Oppenheimer 61973a33c9 Update eigen3 and the changelog ahead of the 3.2.7 release. 
PiperOrigin-RevId: 715467319
Change-Id: I4a6a168bc981c976890c46b784e94805afc86323
 2025-01-14 11:51:12 -08:00
Gabe Oppenheimer 0f64959e27 Update the version of eigen3 ahead of the 3.2.6 release 
PiperOrigin-RevId: 702026493
Change-Id: Ibb0447b7106e9b873386c153283c81685583350f
 2024-12-02 11:12:39 -08:00
Saran Tunyasuvunakool 072039ac60 Update Google Benchmark library to v1.9.0. 
The old version doesn't build under LLVM 19 with -Werror.

PiperOrigin-RevId: 697919386
Change-Id: I6cfa64936af9e2ea3b2c03e724b33f5bde7c799a
 2024-11-19 01:27:36 -08:00
Google DeepMind d1e004aa97 Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release. 
PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
 2024-10-15 13:03:13 -07:00
Google DeepMind dde25d039b Update Mujoco dependencies to latest versions. 
PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
 2024-09-12 14:10:21 -07:00
Google DeepMind 828b900358 Update dependency versions. 
PiperOrigin-RevId: 659624959
Change-Id: I21bb1f352107ed399a1029aa1d7f5b6ed29ab3cf
 2024-08-05 11:37:14 -07:00
Gabe Oppenheimer cb4cb7d09b Update version hashes in MuJoCo CMake files ahead of the 3.2.0 release. 
PiperOrigin-RevId: 652555501
Change-Id: I4279ea670e837414adbfc69f6e1e96a4c635f17d
 2024-07-15 12:00:25 -07:00
Yuval Tassa 44be878e7e Enable inter-procedural optimization by default in cmake 
PiperOrigin-RevId: 647336693
Change-Id: I44acf48ed9825dd3e71b06f2aca581cdb17dce34
 2024-06-27 09:05:49 -07:00
Meghha Dhoke efbcd86e29 Update abseil to LTS 20240116.2. 
This is a minor update to the previous version, LTS 20240116.1. The only change is a fix for a bug in the `absl::StrFormat` function.

PiperOrigin-RevId: 631495397
Change-Id: I28aec52fb526a2168900a4ee93ffc6e11650a3be
 2024-05-07 11:40:44 -07:00
Alessio Quaglino 4647f79c55 Update MarchingCubeCpp to version f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d. 
PiperOrigin-RevId: 631401047
Change-Id: I3e82f7f1188470f8c40bd2e6ce1df2bd813c96c5
 2024-05-07 06:22:49 -07:00
Meghha Dhoke e2c14188ad Updated abseil for release version v3.1.3 
PiperOrigin-RevId: 612939979
Change-Id: I0e5c5301d6d6f2139a71d8df95966124e584e14d
 2024-03-05 12:57:23 -08:00
Meghha Dhoke 7e87c6ac44 Updated Eigen3 hash in below files for Mujoco release version v3.1.3 
- CMakeLists.txt
- MujocoDependencies.cmake

PiperOrigin-RevId: 612910476
Change-Id: I67ec8b4550abde82378a875809552fa10d4924cd
 2024-03-05 11:26:16 -08:00
Alessio Quaglino edc4db6898 Update sdflib version. 
PiperOrigin-RevId: 612389341
Change-Id: Id3e7a4fb51e63b7fef7e9ca7f94a0bc7e54e8413
 2024-03-04 03:41:58 -08:00
Meghha Dhoke f75923a48d Updated version numbers to cmake files
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PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
 2024-02-05 12:55:30 -08:00
Google DeepMind 0df1c9c733 Updated version number in cmakelist, mujcodepencies.cmake for v 3.1.0 
PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
 2023-12-12 13:17:35 -08:00
Baruch Tabanpour 23cdfef7fe Update C++ dependency versions. 
PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
 2023-11-16 11:15:01 -08:00
Alessio Quaglino db067a3b94 Update SdfLib to latest version. 
PiperOrigin-RevId: 574140359
Change-Id: Icbbf1c863204bef45252cfd184e0d80046261dc4
 2023-10-17 07:20:26 -07:00
Saran Tunyasuvunakool efdc89e347 Update dependency versions. 
PiperOrigin-RevId: 573323079
Change-Id: I01fbcc582626b179ce72b2aabcac0f389801a97f
 2023-10-13 14:41:48 -07:00
Alessio Quaglino 6ca8a7bdf7 Make SdfLib dependency on args and stb_image optional. 
PiperOrigin-RevId: 566309916
Change-Id: I74880781848b7e5235cdf5d723b0c8805827a4c8
 2023-09-18 08:31:53 -07:00
Alessio Quaglino e76e1c72f9 Fix SdfLib relative path. 
PiperOrigin-RevId: 565884473
Change-Id: I77e25b55a5062ec089bbb643bd722ec2fbc7b211
 2023-09-16 00:41:28 -07:00
Alessio Quaglino 492b6a72ec Prevent patches to be applied to an already patched dependency. 
See https://gitlab.kitware.com/cmake/cmake/-/issues/21146

BEGIN_PUBLIC
Prevent patches to be applied to an already patched dependency.
END_PUBLIC

PiperOrigin-RevId: 565624168
Change-Id: I29b36d2cd02f58d5d9e84f9cae5e5bbf8be1b404
 2023-09-15 02:58:54 -07:00
Alessio Quaglino 4751f70026 Export SdfLib patch to GitHub. 
PiperOrigin-RevId: 565354963
Change-Id: I10089d8abf85617d8e34da35c4bf4bfcb0a3684b
 2023-09-14 06:56:12 -07:00
Alessio Quaglino 1afd98ec4b Add [SdfLib](https://github.com/UPC-ViRVIG/SdfLib) plugin to first-party SDFs. 
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW

PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
 2023-09-14 06:42:42 -07:00
Saran Tunyasuvunakool 860f7b376a Fix GCC and MSVC build. 
PiperOrigin-RevId: 564390190
Change-Id: Icba3eefb394b8d17798679dd9876f127fba5a599
 2023-09-11 08:17:08 -07:00
Saran Tunyasuvunakool 78183e60e1 Refactor thread pool implementation. 
- 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
Saran Tunyasuvunakool 329ed193ac Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC. 
PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
 2023-09-05 11:05:04 -07:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries. 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
 2023-08-16 09:15:23 -07:00
Saran Tunyasuvunakool c9246e1f50 Release version 2.3.7. 
PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
 2023-07-20 02:13:55 -07:00
Kyle Bayes 242aea93c6 Bump oldest supported MacOS to version 11. 
PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
 2023-07-12 06:38:26 -07:00
Copybara-Service 516c5a8bbe Merge pull request #935 from traversaro:patch-25 
PiperOrigin-RevId: 542013022
Change-Id: I1339ff72c961e815143e9ab423497f603a4b2dd4
 2023-06-20 12:23:49 -07:00
Saran Tunyasuvunakool f555261934 Bump MuJoCo dependency versions. 
PiperOrigin-RevId: 541945332
Change-Id: I13e67a2ef55a4b61600563c510e8f22405a87943
 2023-06-20 09:14:28 -07:00
Silvio Traversaro 06decde594 MujocoDependencies: Move comment back to related code 2023-06-19 15:38:10 +02:00
Saran Tunyasuvunakool c6e35d255c Update dependency versions. 
PiperOrigin-RevId: 525487198
Change-Id: Ic352c0dc6aaa4120e1f2fa637a8c483c885ca4cd
 2023-04-19 10:33:11 -07:00
Nimrod Gileadi 08027b4e43 Only use -Wgnu-empty-initializer on Clang and not GCC. 
Broken by ee566eb880.

PiperOrigin-RevId: 517390165
Change-Id: Ibd8ec46647873050899cffe435e3f5c293279aae
 2023-03-17 05:35:16 -07:00
Alessio Quaglino ee566eb880 Remove empty initializers to ensure MSVC compatibility. 
Add -Wgnu-empty-initializer to Clang builds to catch this issue in the future. Initialising arrays with empty braces is not part of the C standard and fails on MSVC. This commit should catch the issue earlier by detecting it in Clang.

PiperOrigin-RevId: 517373961
Change-Id: I518006e84151e8d5b45a7fe00ba7675dfb031ca0
 2023-03-17 04:02:24 -07:00
Nimrod Gileadi ac78f8aee9 Update CMake dependencies to latest versions. 
Upgrade abseil and pybind11.

PiperOrigin-RevId: 514397331
Change-Id: I4a35dc9f3b9dcc79bdd13016a5326f72cd3fc67f
 2023-03-06 07:12:22 -08:00
Saran Tunyasuvunakool 5e989d18c3 Enable compiler errors for implicit switch case fallthroughs. 
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.

PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
 2023-02-10 03:49:00 -08:00
Alessio Quaglino dd632b7ccc Bump MuJoCo version to 2.3.2. 
PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
 2023-02-07 02:35:17 -08:00
Kyle Bayes 341578450f Update dependency versions for Benchmark and Pybind11. 
PiperOrigin-RevId: 492978119
Change-Id: Id48037950a6beac2f04f5e08448bd2fb3cb88678
 2022-12-05 05:20:08 -08:00
Francesco Romano b9b224bfbd Remove qhull patching as upstream has been updated. 
PiperOrigin-RevId: 492136751
Change-Id: Ifc149c761a6c6cf3f32011ecb8af3523f39e8f00
 2022-12-01 01:56:42 -08:00
Nimrod Gileadi 0514010928 Disable deprecated-builtins warnings in clang. 
Since upgrading to Clang 15, abseil fails to build, because of abseil/abseil-cpp#1201.

PiperOrigin-RevId: 486190797
Change-Id: Ibaa1c03b8d21ae4a83c3825c8d56363aa2f89505
 2022-11-04 11:35:49 -07:00
Saran Tunyasuvunakool 573d331b69 Bump pybind11 and Eigen versions. 
PiperOrigin-RevId: 481831731
Change-Id: I29082287c7b716bfb29b25545599f6eca8106c49
 2022-10-17 23:37:59 -07:00
Saran Tunyasuvunakool c2f1381f31 Update dependency versions. 
PiperOrigin-RevId: 479839325
Change-Id: I44f51ed9fd756cf8c3397489f045492cca0bf54a
 2022-10-08 16:55:29 -07:00
Saran Tunyasuvunakool 9b694103e6 Update dependencies in CMake. 
PiperOrigin-RevId: 472698116
Change-Id: I0afc29468555339e0a2cac27977bd68246e483f3
 2022-09-07 05:17:54 -07:00