Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern.
Encoders serialize an mjSpec + mjModel to an mjResource for a given format.
New API functions:
- mjp_registerEncoder: globally register an encoder
- mjp_defaultEncoder: zero-initialize an encoder struct
- mjp_findEncoder: look up an encoder by filename extension or content type
The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and
returns 0 on success. Writing to mjResource keeps symmetry with the decoder
reading from mjResource and leaves the door open for writable resource providers.
PiperOrigin-RevId: 889187898
Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364
The computation of tactile sensor values for each taxel is now parallelized using the MuJoCo threadpool when the number of taxels exceeds a threshold. Each thread processes a batch of taxels, accumulating forces from all colliding geoms.
PiperOrigin-RevId: 888606457
Change-Id: I98abf3e98a7318fc14080054bea7093ab46e8b8b
The `vertcollide` attribute in flex and flexcomp contact specifications has been removed since the next mjWarp release will support flex collisions. This attribute was previously used to enable vertex-based collisions by adding sphere geoms at flex vertices. The functionality associated with this attribute has been deprecated and removed from the XML parser, documentation, and internal data structures. Affected example XML files have also been updated.
PiperOrigin-RevId: 885595503
Change-Id: I6a78975f1bc540c09ea8b5306ff3be0962b7ab24
model_holder.cc modified to disable multi-threaded compilation for WASM builds. index.html `animate()` function modified so the animation rendering loop executes asynchronously with async/await calls. These changes are sufficient to make xml files without references work (e.g., humanoid.xml), more work is needed to make the vfs work so multi-file models can load.
PiperOrigin-RevId: 885537402
Change-Id: I3469cae48e7268073be334b99bf907c5ed8c27a7
When freeing a stack frame, only poison the newly-freed memory region
`[old_top, new_top)` instead of the entire region `[limit, top)`. The old
code redundantly re-poisoned already-poisoned memory on every
`mj_freeStack` call.
Benchmarking `engine_forward_test` under ASAN:
- Before: 99.3s
- After: 75.6s (~24% faster)
PiperOrigin-RevId: 885035750
Change-Id: Ib195661ca337d13c5ff6094bcc107c4c0a617b9b
The `grad` parameter in `volumetric_dSdx` and `invariant_dSdx` is not modified, but the `const` qualifier was inconsistent with how the array was being passed, requiring an unnecessary cast. Removing the `const` simplifies the function signatures and calls.
PiperOrigin-RevId: 884598322
Change-Id: Icac8071aa8e838057dd39c979c23a4f47e1dc22d
This change improves trilinear flex elements by using reduced integration for volumetric quantities (strain trace and volume ratio) at the element center, while adding full integration for shear components at 8 Gauss points and removing the second strain invariant from the constraints, which is negligible for small strains. This reduced integration "B-bar" technique is standard in finite element analysis and prevents artificial stiffness that can occur when low-order elements are nearly incompressible. The constraint count per trilinear element changes from 24 to 26 compared to using invariants. For quadratic elements, the full 27 quadrature point are used resulting in 162 constraints.
PiperOrigin-RevId: 884570752
Change-Id: Ib74ece8f4712c2c81fbfd784524fcac52a2c80e5
Use `__SANITIZE_ADDRESS__` (GCC) and `__has_feature(address_sanitizer)` (Clang)
to define ADDRESS_SANITIZER when the toolchain doesn't provide it natively.
Fixes#3160
PiperOrigin-RevId: 884447485
Change-Id: I48ef51bca8f5c5f15f62089e73cd8fa649723636
The next release will include breaking changes, so this bumps the major
version to reflect that.
PiperOrigin-RevId: 881351265
Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
Haroon Qureshi