062b0f1ea6
Remove deprecated mju_{error,warning}_{i,s} functions.
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PiperOrigin-RevId: 925204136
Change-Id: Ia877d08a135092db8037d04e6a237e81325a1d7c
2026-06-02 01:59:05 -07:00
3a99f6110e
Merge pull request #3084 from Ashutosh0x:fix/mingw-stat-localtime
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PiperOrigin-RevId: 880906196
Change-Id: I98027e80e9882620cb184766c14110478178ce53
2026-03-09 09:54:10 -07:00
04e5df08a9
Update mju_malloc to return NULL for zero-sized allocations
2026-02-13 19:22:05 +05:30
c962188655
Fix zero-sized allocation crash on Windows
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On Windows, _aligned_malloc(0) returns NULL, which MuJoCo interprets as a fatal out-of-memory error. This causes crashes on models with empty arrays.
Ensure a minimum allocation of 64 bytes for any 0-sized request.
Fixes #2992
2026-02-11 22:33:28 +05:30
2ab76ec4f5
Fix MinGW stat redefinition and thread-safe localtime
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- Guard #define stat _stat with !defined(__MINGW32__) to avoid conflicts with MinGW's own POSIX-compliant stat implementation
- Replace _MSC_VER check with defined(_WIN32) for localtime_s to allow all Windows compilers including MinGW to use the secure function
Fixes #3038 , #3037
2026-02-11 22:32:21 +05:30
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
eb6f7dc6b7
Gate some calls with __EMSCRIPTEN__
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PiperOrigin-RevId: 762520516
Change-Id: If9f7729721bab8c947861a968cf96eecc6591228
2025-05-23 12:10:52 -07:00
2545ec5383
Don't call getchar on error.
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PiperOrigin-RevId: 752680097
Change-Id: Idce87a3e33ebce703bf3eedc18026f6a13d05f35
2025-04-29 04:37:22 -07:00
329ed193ac
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
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PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
2023-09-05 11:05:04 -07:00
93012bf164
Remove legacy MacOS support in mju_alignedMalloc. As of MuJoCo 2.3.7, MacOS 11 is the oldest supported version of MacOS.
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PiperOrigin-RevId: 555090388
Change-Id: I57d7abf17952da250f1165f24dfcbb112aea92f9
2023-08-09 01:58:10 -07:00
ac1f41160d
Add engine internal error macro mjERROR to prepend calling function to error function.
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PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
2023-06-19 03:29:31 -07:00
455b1cd2e2
Add spaces around comparison operators in engine source files.
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PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
2023-05-28 05:02:34 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
d3d789cf7d
Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated.
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PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
2023-03-09 13:51:27 -08:00
fd4d47e4a5
Format memory warning in human-friendly way.
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PiperOrigin-RevId: 486610408
Change-Id: I6beecb12059e69f4407e921d20efc54ce6b3f491
2022-11-07 02:56:07 -08:00
b849023069
Miscellaneous linting in src/engine.
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PiperOrigin-RevId: 462415459
Change-Id: I6c79c592613c6b0a665af06faf945586bb6ba32d
2022-07-21 10:16:49 -07:00
5cc73c30bf
Align all arrays in mjData's buffer to 64 byte boundaries.
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The introduction of additional mjData arrays for the implicit integrator caused in a shift in data alignment in memory. In certain combinations of machines and models, this change resulted in ~5% performance regression that appears to be attributable to L2 cache misses.
This change aligns all arrays in mjData to the boundary of a typical L2 cache line size. Benchmarking shows that this resolves the performance regression on a Broadwell machine.
PiperOrigin-RevId: 451652783
Change-Id: I4ed2c2d03453a83a0b4a9b8e224e2fd7c0dadea9
2022-05-28 13:03:38 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
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PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Yuval Tassa