67dd4827a6
Improve printing of inertia-like matrices, allow mj_printData to take const mjData*
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PiperOrigin-RevId: 718176884
Change-Id: I057dabe6973e19db86e9ff9ce4430c6d17dfce2b
2025-01-21 19:59:45 -08:00
bd1bbfe401
Fix bug where EPA horizon returns zero edges due to numerical inaccuracies in float32.
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PiperOrigin-RevId: 717825833
Change-Id: I9fa440816765d4c3eaa0c6c26ec0bd90c774fa01
2025-01-21 02:50:53 -08:00
2624d524ba
Switch mj_solveM_island to use CSR representation
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PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
2025-01-20 18:36:04 -08:00
a5ab7a9515
Switch mj_solveM2 to use CSR representation.
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PiperOrigin-RevId: 717639495
Change-Id: I59eee0f23606481480ec5acb8a3bba2c14b2ea2f
2025-01-20 15:16:26 -08:00
600f4acb52
Change GJK and EPA return values.
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PiperOrigin-RevId: 717549079
Change-Id: I42df5660bcc8336e2e9c8fce71385cbb06104848
2025-01-20 08:59:37 -08:00
5c4c79cd6a
Refactor LD back-substitution (CSR version).
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PiperOrigin-RevId: 717403904
Change-Id: Idcd5e71f03a960203c22cb737d399fac5a0ba59c
2025-01-19 22:47:25 -08:00
240a7afdee
Add sensors for potential and kinetic energy.
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PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
2025-01-17 13:10:12 -08:00
893a993bf6
Fix typos.
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PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
2025-01-16 06:28:54 -08:00
4da2ddce29
Only correct box-box collisions with the mjc_BoxBox function.
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PiperOrigin-RevId: 716209565
Change-Id: I3419ce82f9934606bed80acd8372284fc7ac7ac8
2025-01-16 06:22:20 -08:00
6436055c6c
Update the version number to 3.2.8 following the 3.2.7 release.
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PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
2025-01-15 11:13:27 -08:00
d4ca66a47b
Allocate dual-solver memory inside mj_projectConstraint, no more than required.
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PiperOrigin-RevId: 714093658
Change-Id: Id7e710c5dffd24871019a72a7bf2aa6eb3f7a36e
2025-01-10 10:19:13 -08:00
2409a6e537
Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix.
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PiperOrigin-RevId: 714076988
Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
2025-01-10 09:23:55 -08:00
ca6162e6d0
Refactor mj_projectConstraint to use CSR representation, don't allocate quadratic memory inside the function.
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PiperOrigin-RevId: 714062168
Change-Id: Ib6ddd0e751fabcded20911e3ced59672be0da8b5
2025-01-10 08:32:05 -08:00
00010f5848
Compute diagonal indices in mj_sqrMatTDSparse
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PiperOrigin-RevId: 713714087
Change-Id: Icc8eae74e6e47ba1d12a6e9aa0d774ab006cfe38
2025-01-09 10:17:31 -08:00
daba00ca9d
Fix a box-box bad collision in NativeCCD.
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PiperOrigin-RevId: 713683497
Change-Id: I0c4cfd55d00faa196d8759046c87ee4ef74f01ab
2025-01-09 08:35:50 -08:00
357ea024c0
Remove unconditional mj_markStack in mjv_addGeoms.
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Prior to commit 3f855f32d9Fixes #2305 .
PiperOrigin-RevId: 713418586
Change-Id: I99b5de23fe94ba9aa86eeef0700c891976c9aecc
2025-01-08 14:32:44 -08:00
f912e8df16
Print sparsity structure of mjData.efc_AR
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PiperOrigin-RevId: 713296073
Change-Id: Ifede6ea66dd1177f5e85c8498860decebaa65f06
2025-01-08 08:12:47 -08:00
8a5f092081
Allow CSR back-substitution to handle multiple vectors.
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PiperOrigin-RevId: 713229673
Change-Id: I7a5b43fe966cf9e482bd41e2eea6c30dd3ffa1d4
2025-01-08 03:32:16 -08:00
4d82ab5762
Add function to merge chains of indices.
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PiperOrigin-RevId: 712863690
Change-Id: I15652bec03dc9ce90e230788bd12b44b1a2b8217
2025-01-07 04:42:11 -08:00
674d227050
Standardize names of sparse fill-in pre-counting functions
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PiperOrigin-RevId: 712835830
Change-Id: I8e90dfa52af56ede917e1fd90b8d551898c244e5
2025-01-07 02:39:46 -08:00
b5df2c10bf
Remove mjData.C_diag, no longer required as C is now lower triangular.
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PiperOrigin-RevId: 712514204
Change-Id: I8293f65ebc09c6a8fed76b0e59d2e2a667e01a43
2025-01-06 06:58:19 -08:00
ac11e5faa6
Add CSR implementation of mj_factorI
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PiperOrigin-RevId: 712498431
Change-Id: I13b52e53482ed97da8788875d4d95e2beb5ca7c1
2025-01-06 05:48:14 -08:00
7eb8231fda
Represent only the lower triangle in Newton solver's reduced dof-dof matrix.
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PiperOrigin-RevId: 712488529
Change-Id: Iad91c72654376539791d7856765a0d0ac9088251
2025-01-06 04:58:55 -08:00
daed8f46c8
Don't assume compressed input in mju_transposeSparse, allow NULL pointer for matrix values, to only transpose the structure.
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PiperOrigin-RevId: 712472432
Change-Id: I6dd34583ab181f0c9677c55230cecdf0aed46f9e
2025-01-06 03:51:35 -08:00
94230a8bee
Fix bad indent.
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PiperOrigin-RevId: 712267512
Change-Id: I3463b0f53b808b726ff0fe5ea46ec8d30164eac4
2025-01-05 09:12:50 -08:00
abe8ffdee7
Enable AVX for inlined mju_dotSparse.
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PiperOrigin-RevId: 711858423
Change-Id: Id2d06a9e87085e9f810779fba4e8ed9c19a4cba9
2025-01-03 14:42:00 -08:00
340c0d7c97
Fix a box-box bad collision in NativeCCD.
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PiperOrigin-RevId: 711773153
Change-Id: I8a526ef5933be19d863e67f40edeb95b0b1249cd
2025-01-03 09:23:57 -08:00
63e2836f63
Expose mj_printSparsity in engine_print.h.
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This is useful for debugging sparse operations.
PiperOrigin-RevId: 711765082
Change-Id: I532a5218da0f921dd4b04730d0b12c5136e7ca65
2025-01-03 08:51:46 -08:00
923f75fd23
Use only lower triangle in CSR back-substitution.
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PiperOrigin-RevId: 711686157
Change-Id: I4fc98cdfb927e5608ce3a99ea34890ce556fcfd7
2025-01-03 02:33:59 -08:00
6c880eb0fa
Clean up mju_sqrMatTDSparse
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PiperOrigin-RevId: 711486739
Change-Id: I5f9145dcd8522a9cb372cbdf60611d7d05cb524e
2025-01-02 12:02:10 -08:00
4510c6d290
Further speedup to CSR back-substitution using dof_simplenum.
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PiperOrigin-RevId: 711440268
Change-Id: I81cd9a6a8b8ec78d08cfbc34f60a9216ea753833
2025-01-02 09:04:51 -08:00
69c9ac074a
Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2.
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- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).
PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
2024-12-30 15:24:36 -08:00
ec322641b7
Fix bug in mj_mulM2.
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PiperOrigin-RevId: 710756899
Change-Id: I30c0725859ba0f1a59750dc89eebb9eba84fa71b
2024-12-30 11:14:56 -08:00
e42370c982
Avoid allocation and copying in implicit solver's addJTBJSparse
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PiperOrigin-RevId: 710679558
Change-Id: Ie75fdcd1127ff619c2668f568ab6a8a11e079dda
2024-12-30 04:19:10 -08:00
8cb253b6ca
Fix typos.
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PiperOrigin-RevId: 710678815
Change-Id: Iab6f603f8f4d782ac7f34140add39e1f37625167
2024-12-30 04:15:29 -08:00
0336114a88
Add restrict to output variable in mj_solveLDs.
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PiperOrigin-RevId: 710358020
Change-Id: Ia63048161d7622f21954e98346b7ff4e37ecb342
2024-12-28 16:05:18 -08:00
a8a9607712
Inline mju_dotSparse in engine_util_sparse.h
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PiperOrigin-RevId: 709577108
Change-Id: I76547122b5780bec76a12384effcb66315f84e13
2024-12-25 08:09:42 -08:00
3f855f32d9
Fix stack allocation leak in mjv_addGeoms()
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PiperOrigin-RevId: 708356387
Change-Id: If3d227028ea8f809390911b578878d985d9d7b1a
2024-12-20 10:11:18 -08:00
b26d6f0466
Disable tendon catenary visualization when tendon is actuated. Add note about catenary visualization.
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PiperOrigin-RevId: 706161179
Change-Id: Ifaf571e039306309869078d1a0bcf9a69f1fe9de
2024-12-14 01:54:40 -08:00
ec230fa4b6
Prune face linear map in EPA.
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PiperOrigin-RevId: 705138358
Change-Id: I835ce7094d066b19ee39af48e0b83b51f7a0954e
2024-12-11 09:44:19 -08:00
2691887500
Add engine-internal convenience macro for allocating typed arrays, improve error message.
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PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
2024-12-11 09:04:44 -08:00
a364308d5a
Use GJK to recover contact points for sphere and capsule geoms in nativeccd.
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PiperOrigin-RevId: 704727907
Change-Id: Iff641b6a32637c48e9892dbaa60826617c54ed06
2024-12-10 08:53:27 -08:00
1c4c7b012c
CSR implementation of mj_solveLD.
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PiperOrigin-RevId: 704316200
Change-Id: Ibaff0284e40b3ebbe43bb489b6211ce739270e27
2024-12-09 09:34:17 -08:00
537fc2ff45
Use diagonal index to speed up mju_solveLUSparse.
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PiperOrigin-RevId: 704303282
Change-Id: I72c3fbcd31a5564fc792b73efe9d12a151b4d60f
2024-12-09 08:53:25 -08:00
3a14ada308
Store index of diagonal element for C and D in mjData.
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PiperOrigin-RevId: 704287869
Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
2024-12-09 08:01:30 -08:00
0ba717a653
Print supernode values in mj_printData
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PiperOrigin-RevId: 702677257
Change-Id: Icecc5dd8604fcadc02bba5fc69c9fd5fd4fbd825
2024-12-04 04:41:10 -08:00
0e7d2ef6df
Fix bug in box-sphere collider. Fixes #2206
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PiperOrigin-RevId: 702627603
Change-Id: Ie6015b7fa6f8507459325d692581b0f5f83aa159
2024-12-04 01:19:27 -08:00
c90a63a926
Update the version number to 3.2.7 following the 3.2.6 release.
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PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
2024-12-02 15:30:52 -08:00
300450f8b8
Add circle to flexcomp and remove rope and loop from composite.
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Add pulley example to show a circle use case.
Switch on flex edge rendering by default (no effect when flex skin is rendered).
PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
2024-11-27 10:14:25 -08:00
203602b01f
Move computation of flex_vert0 to user_mesh.cc.
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This removes the dependency of flex_vert0 from mj_flex and mjData.
PiperOrigin-RevId: 700382297
Change-Id: I0b6d023c2e1ba14fa92417b65bfc288f37c223ae
2024-11-26 10:17:16 -08:00
Yuval Tassa