This change introduces `nflexstiffness` and `flex_stiffnessadr` to allow flex stiffness matrices to have sizes other than the fixed 21 per element. Higher-order flexes can now store larger stiffness matrices based on their number of nodes. The `flex_stiffnessadr` array provides the starting index for each flex's stiffness data within the `flex_stiffness` array.
PiperOrigin-RevId: 899632263
Change-Id: Ie49182c46c3777acf0c6b492345edfcf62fb5e44
Use an unlit material for decorative elements and do not render them
in the reflection pass.
PiperOrigin-RevId: 899560291
Change-Id: I3b035d556432c850ce8240e0c4c4c2d6645d7bf2
Instead, use a set of functions to create/update a Renderable
from an mjvGeom.
This completely isolates mjvScene/mjvGeom from SceneView,
making SceneView a more general purpose class.
PiperOrigin-RevId: 899475268
Change-Id: I48a3a45bc8fff3e1f514847c7a1ca8ab3a1ff16e
*** Original change description ***
Add protocols for authoring simulation environments. This is for preview only, we discourage users from using this in production code.
PiperOrigin-RevId: 899425542
Change-Id: Ifb6c5d3b762789d821bfa9826f5d6d983e8af7d3
This is an early upload of https://github.com/google/filament/pull/9867 and necessary material changes
Original PR commits:
FL0 materials are always compile via spirv-cross
postfx materials now support sRGB emulation in FL0
PiperOrigin-RevId: 899262890
Change-Id: I52c002d60790d84269674c1f0d0c5f7d6a58000c
This default forces users to use the `spec.assets` dictionary or to do other filepath gymnastics when loading URDF. Instead we encourage users to just modify file paths directly if necessary.
PiperOrigin-RevId: 899009853
Change-Id: I4bb84606a95b65be79ccc77ccbe78062d6de8773
Split up the Update function into parts and allow SceneBridge
to call them individually, passing in the ModelObjects or
ObjectManager as needed.
PiperOrigin-RevId: 898851732
Change-Id: I25c6bf920b85caa7b2ddee045475f11fb7a8bac8
This change disallows calling `mjs_delete` on an mjSpec that has been attached to another mjSpec via `mjs_attach`. Attempting to delete an element from an attached spec will now result in an error. The Python bindings for `mjSpec.delete` have been updated to raise a ValueError when this occurs.
PiperOrigin-RevId: 897266695
Change-Id: Ic0670125a3028191ec50eca890f02b5910ec8b03
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
- Remove `lugre:viscous`, should now be added directly to actuator `damping`. Trying to do this for the user was incompatible with default inheritance (compounding instead of overriding).
- Move voltage limiting from the `saturation` to the `controller` attribute.
- Fix indexing issues in default inheritance.
PiperOrigin-RevId: 897087642
Change-Id: I5388c2633e15c7e223992e7eb5d6a28db75a6438
Restore the existing Warp/CUDA-gated render_util test setup so the review change stays minimal while preserving the new batched shape coverage.
Made-with: Cursor
SceneView owns the filament Scene, View, and Camera objects.
is responsible for rendering the Scene (to which Entities
have been added).
SceneBridge takes the mjvScene as an input and updates the
corresponding light and drawable Entities in the SceneView.
PiperOrigin-RevId: 897007401
Change-Id: I3ec245f5bd48c3654672b11a55fb011f113454cc
Previously on MSVC we used DllMain to register plugins, you cannot have multiple definitions of DllMain in a single unit so you would get errors if you tried to register two plugins. This modifies the implementation to insert a function pointer into the C runtime initialization instead.
PiperOrigin-RevId: 896612678
Change-Id: I07732147b955d741c836acff6da986db0e9b9eff
Profiling `leaves.xml` with contacts disabled, this function takes up most of the time (in the implicit integrator). Total `testspeed` run time:
BEFORE: 18.5s
AFTER: 16.5
PiperOrigin-RevId: 896525902
Change-Id: I57f4a984d178956a2902212deb857bf53f53f01b
Add a note about mjswan, which extends the JavaScript/WebAssembly bindings with real-time policy control and interactive features. Requested by tatsuki.
PiperOrigin-RevId: 896513129
Change-Id: I984a41d281ffa1ad307f0b3db909140a201dd717
Haroon Qureshi