 Kyle Bayes
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0eec09dd60
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Add runtime assertions to mji functions.
PiperOrigin-RevId: 933106771
Change-Id: I523cdceb89c90611f27983731c49fd4887034431
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2026-06-16 08:36:32 -07:00 |
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Yuval Tassa
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2810edd27a
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Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
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2026-05-21 06:43:29 -07:00 |
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Kyle Bayes
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56e98cc16c
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Improve AABB bounds in makeAAMM.
MODEL BEFORE(ns) AFTER(ns)
boxmesh.xml 874645 744822
box.xml 808226 786226
ellipsoid.xml 1477609 1436058
mixed.xml 1492063 1404848
PiperOrigin-RevId: 900626282
Change-Id: I3df5a6cd8a4cb2e3b9ded1b40a5310a4c14ec624
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2026-04-16 03:25:18 -07:00 |
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Kyle Bayes
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d00ddea269
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Merge mjc_ccdIteration into mjc_penetration.
PiperOrigin-RevId: 877432442
Change-Id: I6bffb36522f9e4f0e7b1023003e70df064e1ebb7
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2026-03-02 09:17:56 -08:00 |
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Yuval Tassa
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600f0f20bc
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Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
PiperOrigin-RevId: 843635464
Change-Id: I3b0553eea98424ccc7def77e3769e2994f3e9014
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2025-12-12 04:49:29 -08:00 |
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