6134fe48d9
Enable shadows depending on render settings.
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PiperOrigin-RevId: 886236214
Change-Id: I6999e52ff3d9fc0734082312a77d6c033b69a24b
2026-03-19 09:59:50 -07:00
eae31f0b3c
Use model's num_quads for generating planes.
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PiperOrigin-RevId: 886228541
Change-Id: I693f85edd84e4e1b1db6a932d4479888426bcae4
2026-03-19 09:44:53 -07:00
7c63bcc8f3
Move Render logic into the Scene/Gui View classes.
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This is in preparation for an upcoming change.
PiperOrigin-RevId: 886203890
Change-Id: I91eba35b394898d942f66f75e947c450b924a973
2026-03-19 08:50:41 -07:00
e57d95e68f
Remove vertcollide attribute from flex contact.
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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
2026-03-18 07:59:57 -07:00
f1715e67bd
Fix studio web so that single file xml model can be loaded in a single-threaded wasm build
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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
2026-03-18 05:31:29 -07:00
b0c48ba846
Planes should not receive shadows when rendered from behind.
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Also refactors Renderables a bit to allow for additional use-cases.
PiperOrigin-RevId: 885527587
Change-Id: I4b17e097256de0356151a6d087bc01f11e3071b7
2026-03-18 05:05:21 -07:00
3f77daa27a
Support wireframe rendering.
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PiperOrigin-RevId: 885508978
Change-Id: I97216a120f4fede62924819cfb5cef5693adc7f8
2026-03-18 04:13:24 -07:00
bc1f9513be
Add flag for software rendering.
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This flag is currently unused.
PiperOrigin-RevId: 885453938
Change-Id: Ia2112410ff12c7b18ad154f18887d4d795bafa3d
2026-03-18 01:48:15 -07:00
c420a6e1ca
Fix resizing the window when running single threaded
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This was affecting code running in the browser using WASM
PiperOrigin-RevId: 884921901
Change-Id: I13e634452275927f58a63179cdf140780852be2f
2026-03-17 03:32:35 -07:00
4be4a539c4
Fix "Selected backend not supported in this build" error when running using WASM
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PiperOrigin-RevId: 884908229
Change-Id: I5515d1ffe8e7a4fd1f3c1eeee11a7f24196be780
2026-03-17 02:57:45 -07:00
9a0dd7d32d
Make planes semi-transparent from behind.
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PiperOrigin-RevId: 884896612
Change-Id: I00cc53e539fd1abccb43c7c6b89a7e063cb4848c
2026-03-17 02:27:34 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
28def7d25d
Internal changes.
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PiperOrigin-RevId: 883932254
Change-Id: Ic93097dde6425e7de00001b8d74ecc61adcde321
2026-03-15 03:38:34 -07:00
b18657acde
Remove unused flag.
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PiperOrigin-RevId: 883113888
Change-Id: I098669f8a873694903159649567bc2f68397f955
2026-03-13 05:37:47 -07:00
b62aed86f9
Recreate swap chain when the window size changes.
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PiperOrigin-RevId: 882521107
Change-Id: I0d29d2e323e7830256c24eead439b3f2eb55de40
2026-03-12 04:56:50 -07:00
16d618e7b9
Ensure we have a valid vfs when loading a spec.
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PiperOrigin-RevId: 882503274
Change-Id: Iddbd6f00c0344bb34d68bb72a640c0a8e81076a2
2026-03-12 04:06:05 -07:00
ad57721e2c
Add missing state.
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PiperOrigin-RevId: 882072832
Change-Id: I6ad75af67edc7672350c775c1a560e3db6d16969
2026-03-11 10:06:43 -07:00
db9ab94555
Refactor parts of the toolbar GUI into the GUI library.
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PiperOrigin-RevId: 882024591
Change-Id: I3ac73247973666f4d60e9d8d028d20d3ef709bcc
2026-03-11 08:23:12 -07:00
ed2f34baa0
Fix logic for looking up root model within an archive.
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PiperOrigin-RevId: 881976329
Change-Id: I7771b84ff0aed83d55ee830deb2f92357355eb88
2026-03-11 06:18:14 -07:00
df02fe4bc0
BodyAddChild PopupContext needs to happen immediately upon triggering it.
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PiperOrigin-RevId: 881955422
Change-Id: I03675431d78c93550ff2ad6d562daf1a0e3d0d08
2026-03-11 05:20:39 -07:00
d6aac2041e
Make filament-opengl the default graphics mode for studio.
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PiperOrigin-RevId: 881362074
Change-Id: Iaa42ddf915b8b146775b2cf0263152b94c586c49
2026-03-10 04:59:03 -07:00
45c7376ab4
Set actuator limits correctly.
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PiperOrigin-RevId: 879012913
Change-Id: I3f03d09a98236ae9a4dc069564d14437ff5d0a2b
2026-03-05 05:35:14 -08:00
5506fbf506
Rename member history_ to sim_history_.
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PiperOrigin-RevId: 878906079
Change-Id: I1327f0216bc5042e62c598f2b7f15f6a26c192dc
2026-03-05 01:23:39 -08:00
64597f45d3
Move function that parses the graphics mode from a string into graphics_mode.cc.
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PiperOrigin-RevId: 878482669
Change-Id: I8b713bc740c5711b9c7cc9ea63c21bad42cd2943
2026-03-04 07:30:23 -08:00
c70b05e037
Make Renderer more self-contained.
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The Renderer should configure the context and flip the image when
in classic mode and not rely on the Window to do so.
PiperOrigin-RevId: 878480986
Change-Id: I1af899107647469659662abd85527cdf66f507f4
2026-03-04 07:26:34 -08:00
20efb8ee8d
Add missing files.
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PiperOrigin-RevId: 878445886
Change-Id: Ied34a5517c3aefc0985bef100431081a4cbfb640
2026-03-04 05:51:36 -08:00
13d164063c
Remove separate targets for classic and filament renderer.
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The platform::Renderer now supports both implementations at
runtime.
PiperOrigin-RevId: 878427862
Change-Id: I2997c197c6eddbe177c77b435cc5848fd80f1839
2026-03-04 04:56:15 -08:00
84682a46b0
Refactor spec editing logic into its own class.
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The SpecEditor improves spec editing by keeping
track of what's being edited and how it changes
over time.
PiperOrigin-RevId: 878410011
Change-Id: I7c323eeb30178dad31946095a727a21b3955f19a
2026-03-04 04:01:56 -08:00
73f73d94f7
Merge renderer+offscreen mode into unified graphics mode.
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Allow Studio app to switch between graphics modes dynamically.
PiperOrigin-RevId: 878396966
Change-Id: I666fe3d2452de5404b9be2bd1d017eabec789aef
2026-03-04 03:19:58 -08:00
07d7bc95e3
Expose vsm blur width parameter.
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PiperOrigin-RevId: 875733943
Change-Id: Ic8cb423104d2e62ce295f6a2ab6fd67d548910a6
2026-02-26 08:23:30 -08:00
55d7226b06
Improve error handling of spec editor compilation.
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PiperOrigin-RevId: 875703124
Change-Id: Idf4a90a48d75185ad03e4469cee9098104751d67
2026-02-26 06:59:31 -08:00
137a504625
Add imgui stdlib target.
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PiperOrigin-RevId: 875686702
Change-Id: Ie8ba8349c70da3313a1896b14a30d076f2068368
2026-02-26 06:13:38 -08:00
a9675fbaa6
Add an Editor panel.
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The editor panel allows you to add, remove, and modify spec elements
as well as recompiling and loading the spec.
Also includes utilities for handling vertically split panels.
PiperOrigin-RevId: 875658785
Change-Id: I18b10971d587db5eb1e65a033e1dc042faac7f1d
2026-02-26 04:51:02 -08:00
b7e192e514
Expose VSM EL options.
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PiperOrigin-RevId: 875368470
Change-Id: Ic6e05c82b57ffa3b1ff49baf4e3cd2c9480c9ba2
2026-02-25 15:36:55 -08:00
42d843a0fd
Separate mjModel/mjData ImGui table helper from mjSpec ImGui table helper.
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There are enough differences between how the two are structured that
having separate implementations makes things easier to implement
despite some minor code duplication.
PiperOrigin-RevId: 875287973
Change-Id: Id49e089e5e1944291ce79e79f8cb71d048a942cc
2026-02-25 12:37:31 -08:00
abdea379af
Allow the shadow type and map size to be configured in data.
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PiperOrigin-RevId: 875179785
Change-Id: I638c8c8c9e45dd58f393684a09f2ab4871911f7a
2026-02-25 08:35:01 -08:00
757758dd2e
Rename all filament mjr_ functions to mjrf_.
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Rename stubs.cc to mjr_compat.cc. This library acts like a
"compatibility layer" that allows the filament renderer to
be implemented behind the mjr API.
PiperOrigin-RevId: 875114054
Change-Id: I5c47581cacbcadff4c78d2ad15728cc1c3a394ad
2026-02-25 05:43:50 -08:00
253494739a
Read the clear color from the model if available
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PiperOrigin-RevId: 875079722
Change-Id: Id5a9c359d19f46d1c0bb5fbf5043db0ee4b1b9b6
2026-02-25 04:09:27 -08:00
ae7efead09
Show MuJoCo version in the help menu.
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PiperOrigin-RevId: 875061430
Change-Id: I4d4ce32eebd8ca4af4622e9b4d1cd50d180d0b96
2026-02-25 03:11:13 -08:00
1d6ff2cece
Display Bodies as a tree in Spec Explorer.
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Display all other elements under "Elements" or "Assets" group.
Show properties for mjSpec, mjModel, and mjData for selected
elements.
PiperOrigin-RevId: 874614195
Change-Id: I128c2bec844983ac5d35a3a0b1e58b8a5b0109cb
2026-02-24 07:57:44 -08:00
7d4b615edb
Use correct WIN32 define, not WINDOWS.
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PiperOrigin-RevId: 872866601
Change-Id: I35bb5cc0fdef80cf816a63bb7fc1619ef424c0d0
2026-02-20 06:10:00 -08:00
8c9ba9bcf5
Disable plugin on windows.
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PiperOrigin-RevId: 872845569
Change-Id: I4d80c80a47358a2882b2c63c2d655fe374afe65d
2026-02-20 05:00:04 -08:00
f71e215c9a
Include missing header.
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PiperOrigin-RevId: 872835150
Change-Id: I670bddb907b594788bda143c5175bbcb4b427903
2026-02-20 04:23:59 -08:00
0083cf7fa8
Refactor the projectile launcher into a plugin.
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Add a simple GUI for it that allows users to enable/disable
the key binding as well as control some parameters.
PiperOrigin-RevId: 872816645
Change-Id: I8abb2803e17b4f6195d447220c436d4701b24db8
2026-02-20 03:19:53 -08:00
28ad603f6b
Use templates and macros to reduce boilerplate.
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PiperOrigin-RevId: 872805912
Change-Id: I6fc1abe283bc809a95d660abc072906b0810aaeb
2026-02-20 02:42:52 -08:00
f0bf403254
Add a delete button to the highlighted element.
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PiperOrigin-RevId: 872795277
Change-Id: I63afa9c87b425ebed5d20126e9909ad95532d559
2026-02-20 02:09:36 -08:00
82694b520b
Re-apply changes that were accidentally deleted.
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PiperOrigin-RevId: 872782055
Change-Id: If2f403835cd2d90c88abe9ed82380dfca5b3d9c8
2026-02-20 01:27:57 -08:00
ca0552c83b
Cleanup Studio toolbar
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PiperOrigin-RevId: 872618794
Change-Id: I2e8f99dc47937416c8516ed1df7821369211b12f
2026-02-19 16:34:38 -08:00
10524c28dd
Track and restore viscous pause state every frame.
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PiperOrigin-RevId: 872382150
Change-Id: I96bddcfb2a0a204c6505e9795dfff97f09834855
2026-02-19 07:06:38 -08:00
ab80bd0916
Allow model holder to release ownership of mujoco structs.
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PiperOrigin-RevId: 872242489
Change-Id: I055f54f4e111cc78c489c12d9ae5c02cfb57169d
2026-02-19 00:06:07 -08:00
Haroon Qureshi