6c7ed66781
Implement multi-cell finite element method for interpolated flexes.
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This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell.
PiperOrigin-RevId: 901216393
Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264
2026-04-17 04:13:19 -07:00
025ba59fab
Implement sparse Jacobian time derivative
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PiperOrigin-RevId: 897609541
Change-Id: Ic86b6026cfc369c584d3edfe12a9a2fd14cc4357
2026-04-10 04:08:06 -07:00
510d75f4cf
Allow actuators to add damping and armature to joint and tendon transmissions.
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PiperOrigin-RevId: 886899849
Change-Id: I02200ee0d4f7c96096d8188b95f823b566562a30
2026-03-20 11:41:15 -07:00
bb38a34869
Skip shared dofs for contact constraints
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PiperOrigin-RevId: 884455239
Change-Id: I7ee36a13c28be88e12380b4790f150ad62f268c1
2026-03-16 08:36:58 -07:00
55f5ac0a1d
Remove mj_jacDifPairCount by incorporating the counting into mj_jacDifPair
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PiperOrigin-RevId: 884366070
Change-Id: I7490ca205a315bc661414e32c91ad1ec753a8fe7
2026-03-16 04:44:59 -07:00
53fadd9d63
Improve nJmom by counting number of dofs for slidercrank and site transmissions
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PiperOrigin-RevId: 875233737
Change-Id: I2cf3afad7e29e176a4f5a917dd35cfad99b2b0a3
2026-02-25 10:41:24 -08:00
815dbb996e
Use body_weldid to find the first movable body in a chain.
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PiperOrigin-RevId: 863774053
Change-Id: I8df96d5af7cc80d78a6f35560c3c31bed8be550e
2026-01-31 17:16:36 -08:00
e56b31e98f
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
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PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
2026-01-14 11:18:41 -08:00
600f0f20bc
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
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PiperOrigin-RevId: 843635464
Change-Id: I3b0553eea98424ccc7def77e3769e2994f3e9014
2025-12-12 04:49:29 -08:00
ae24034f24
Refactor hfield-convex collision code. This should be a no-op.
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PiperOrigin-RevId: 837045492
Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
2025-11-26 03:26:56 -08:00
769f37b653
Implement sleeping in engine
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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
2025-11-07 03:33:07 -08:00
12f0e3df9a
Quick return for static bodies in mj_object{Velocity,Acceleration}
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PiperOrigin-RevId: 818238459
Change-Id: I340a2f61439db2a149cc64a5fee543680fdcad0f
2025-10-12 01:25:05 -07:00
18779ab54a
Clean up engine_core_util
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PiperOrigin-RevId: 814709359
Change-Id: If4ec66808e7de51e16b772afdb8485fa4ff30030
2025-10-03 08:48:11 -07:00
edbdb5195c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
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PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
2025-10-01 07:58:17 -07:00
e51459f949
Break out struct initialization functions into engine_init.c.
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PiperOrigin-RevId: 811598048
Change-Id: Ia832a8268e2209a5a264bbf79aa00dda487206bc
2025-09-25 19:22:27 -07:00
52da7586dc
Clean up includes in src/engine
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PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
2025-09-16 09:36:44 -07:00
b9900db00e
Extract memory allocation functions and core utilities
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PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
2025-09-01 03:38:25 -07:00
Alessio Quaglino