a4a6248a06
Move AsVector utility to fixture.h
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PiperOrigin-RevId: 690577546
Change-Id: I2cebcffa1f2e3b0789f43e772e364c4762719ab3
2024-10-28 05:52:25 -07:00
4e3dc14f8e
Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>)
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PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
2024-09-10 15:14:04 -07:00
4862b9e765
Remove plugin support from Composite particles.
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This functionality is replaced by FlexComp.
PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
2024-09-09 04:58:26 -07:00
d3d46e16a4
Remove cloth and rope composites and deprecate loop.
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PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
2023-09-25 03:38:43 -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
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
ba12a1354b
Optimize and refactor combineSparse and combineSparseCount.
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PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
2023-08-18 06:14:09 -07:00
2d7d5319f7
Rework sparse addM function to support compressed sparse matrices.
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Note:
- M is still a nv x nv uncompressed sparse matrix.
- NNZ precounting still needs to be implemented using the combineSparseCount helper function.
PiperOrigin-RevId: 554452710
Change-Id: I14adf58fc3acd4ed82d864d7c2e9e96ee6b0377d
2023-08-07 06:07:24 -07:00
2b6ea95d16
Fix dimension of res vector in sparse benchmark test.
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PiperOrigin-RevId: 540336845
Change-Id: I79d4c487455a0642d57f36abe0e38eae92f212fa
2023-06-14 11:49:53 -07:00
81d74c56e1
Separate mj_addM into dense and sparse functions.
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PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
2023-06-09 06:44:19 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
9924cce4b7
Add nnz per row precount method for mju_sqrMatTDSparse.
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PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
2023-04-04 06:21:22 -07:00
8696247f9d
Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%.
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PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
2023-03-18 13:04:14 -07:00
056e849273
Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices.
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PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
2023-03-15 06:56:16 -07:00
7e7cb177a4
Cosmetic changes.
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PiperOrigin-RevId: 511008317
Change-Id: Id8d7cd4f4e22e0658857d16b47d51053f1477bb9
2023-02-20 09:23:32 -08:00
c741dfce7d
Implement a more performant mju_transposeSparse that doesn't require dense memory allocation.
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PiperOrigin-RevId: 505044194
Change-Id: Ibe0e39e3ad711b2b5bdad45180ca4f83b5c8fc82
2023-01-27 00:20:01 -08:00
2d304d65e5
Use memcmp for mju_compare if no AVX. 15% faster on Humanoid.
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PiperOrigin-RevId: 493324356
Change-Id: I5f71dc1a8ae40c18864ea80f00a5f86ff952f72c
2022-12-06 09:14:33 -08:00
7b0fbc63f8
Speed improvement with no AVX. 40% on Linux Intel Xeon and 60% on ARM Mac.
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PiperOrigin-RevId: 488360660
Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
2022-11-14 07:31:32 -08:00
Yuval Tassa