This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 897114719
Change-Id: Iee914cc5e05798186f384a67901f1cf86bc2f887
*** Reason for rollback ***
Rolling back obj/stl decoder inclusion as sources due to broken windows build.
*** Original change description ***
Include obj and stl decoder plugins as sources in CMake builds.
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
***
PiperOrigin-RevId: 885576586
Change-Id: I31e6fa4d10697862f7d800d0d771ca752747e36d
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 885555524
Change-Id: I20aa5b6c55b678398345d49cb1c47667ae2bebcf
MujocoTest now loads plugins from MUJOCO_PLUGIN_DIR if set.
PluginTest is removed; all tests use MujocoTest directly.
testspeed binary loads plugins from MUJOCO_PLUGIN_DIR.
This is in preparation for moving common asset format parsing (obj, msh, stl, etc.) where we will always want to load those plugins.
PiperOrigin-RevId: 874194428
Change-Id: Id90805a9ba5de4627911b56d8b9c4ab4e1b29310
This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.
PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
- Fixed bug in timing of kinematics, was under-reported.
- Moved timing of inertia and collision into respective functions, in preparation for multi-threading.
- Detailed profiling in `testspeed` is always on, removed command-line flag.
- Improved `testspeed` self-documentation.
PiperOrigin-RevId: 571989548
Change-Id: If0e3cc17f6f3511b98fc36339f406a19968a9361
- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.
- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).
- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).
PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
Kyle Bayes