chenlin/Mujoco_WASM
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7 Commits

Author SHA1 Message Date
Alessio Quaglino 7e46e21ef3 Add mju_mat2Rot. 
This function extracts the 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. It is based on the paper "A robust method to extract the rotational part of deformations" by Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin.

PiperOrigin-RevId: 700006006
Change-Id: I77550993233dea9cdf68601762a3ae7ded749bdf
 2024-11-25 09:19:10 -08:00
Yuval Tassa a4a6248a06 Move AsVector utility to fixture.h 
PiperOrigin-RevId: 690577546
Change-Id: I2cebcffa1f2e3b0789f43e772e364c4762719ab3
 2024-10-28 05:52:25 -07:00
Nimrod Gileadi 73cd15344e Fix a couple of mjtNum build errors. 
PiperOrigin-RevId: 645024056
Change-Id: Id283f550a4e2d927c214a86e77d42b90fb02824e
 2024-06-20 07:31:28 -07:00
Yuval Tassa 6067048537 Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3. 
These functions names and argument ordering are more consistent with the rest of the API.

PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
 2024-06-16 10:02:36 -07:00
Yuval Tassa 5a365603f8 Add mju_euler2Quat. 
PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
 2024-04-10 06:02:50 -07:00
Kevin Zakka ec7133b0d3 More efficient implementation of mju_rotVecQuat. 
```
Before:
BM_RotVecQuat_mean           10.1           10.1    833409628  99.055M items/s

After:
BM_RotVecQuat_mean            6.41           6.41  1200000000  156.095M items/s
```
PiperOrigin-RevId: 454601673
Change-Id: Ibb3ce8a6c838a88bdcebd7aaa979b649639edf0b
 2022-06-13 07:16:55 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00