These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
All instances of mujoco_test in the code base were followed by
a call to target_link_libraries(<testname> fixture gmock).
As anyhow mujoco_test already was calling target_link_libraries
to some predefined list of targets (mujoco and gtest_main),
this PR adds to the list of default linked targets also fixture
and gmock, to reduce the boilerplate.
Furthermore, to completly remove the need for calling
target_link_libraries after a call to mujoco_test, this PR also
add to the mujoco_test macro the ADDITIONAL_LINK_LIBRARIES
argument, that can be used if a given test needs to link some
additional targets beside the default ones.
To permit to use these new features also for mujoco benchmarks,
this PR adds a MAIN_TARGET parameter to mujoco_test, to select
if gtest_main or another target is used to provide the main
entry point to the test executable.
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
This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.
PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
Note: frameless_contact_hfield.xml doesn't work with libccd nor nativeccd on ARM as expected.
PiperOrigin-RevId: 698317464
Change-Id: I4c57e04639b9870b416c67d79a16a313c5276cf6
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes#2013.
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.
PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
The changes in 9a0dc20821, moving the Hessian from the stack to the arena, should be rolled back: they prevent future threading over islands. Unlike the stack, arena allocations are not thread-friendly. The reason for the original move was to save memory, but the savings are small: `O(ctx->nH)` and only linear in `nv`. The significant reduction of the Cholesky factor, from quadratic in `nv` to quadratic in the largest dof island — the reduction afforded by 2dd518734f — remains in place.
Also refactor and improve readability.
PiperOrigin-RevId: 685717356
Change-Id: Ia9ec3e44a62d459a3b9cffb578cf6479d5aa1d7f
Alessio Quaglino