6 Commits

Author	SHA1	Message	Date
Saran Tunyasuvunakool	5a21e202ed	Eliminate mjContact copying during collision detection. ... This results in approximately 4-5% speedup in collision detection for particle.xml. PiperOrigin-RevId: 562526634 Change-Id: Ia6487b1908618064d858bac484fe6861ed37a402	2023-09-04 04:46:26 -07:00
Saran Tunyasuvunakool	4c899b92cc	Rename mj_stackAllocByte to mj_stackAlloc and make it public. ... PiperOrigin-RevId: 561133040 Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da	2023-08-29 14:07:54 -07:00
Saran Tunyasuvunakool	133b8d0978	Make MuJoCo buildable with Visual Studio 2019 update 7 and earlier. ... Also enable MSVC 2019 builds on GitHub Actions. Fixes #862. PiperOrigin-RevId: 531167754 Change-Id: I17687fb287c38a7f2245c6f7ba59a22b772e3a8c	2023-05-11 04:54:53 -07:00
Alessio Quaglino	70959c1a2c	Added a collision midphase on geom pairs using rotated AABBs static trees. ... PiperOrigin-RevId: 517357695 Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b	2023-03-17 02:37:29 -07:00
Nimrod Gileadi	dc3a900809	Apply body pair filtering at broadphase. ... mj_contactFilter removed geom pairs where their bodies share the same weldid, but this check can be applied at broadphase instead of at geom-geom level. PiperOrigin-RevId: 507435848 Change-Id: Ia37c741071dc5e1c26686dd319f42c9bd334d305	2023-02-06 03:46:20 -08:00
Saran Tunyasuvunakool	1913a02b40	Initial open sourcing of MuJoCo. ... PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb	2022-05-23 01:08:49 -07:00