chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
3,096 Commits 2 Branches 1 Tag
78df2ae7fad866801dd77fdff47eddfafb5bb545
Commit Graph

63 Commits

Author SHA1 Message Date
Alessio Quaglino 7edbdd0ad6 Remove the Shell plugin and integrate it into the engine. 
PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
 2025-05-19 10:51:25 -07:00
Yuval Tassa 45fc15b844 Speed up sparse supernode detection by combining it with transposition. 
PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
 2025-05-19 10:14:15 -07:00
Yuval Tassa ee8abdf854 Speed up mju_sqrMatTDSparse 
PiperOrigin-RevId: 759593417
Change-Id: I0168e1f96333769d09d61e835560910d43aac608
 2025-05-16 06:42:17 -07:00
Yuval Tassa d8bebdc675 Remove unnecessary diagnum argument in mj_solveLD and mj_factorI 
PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
 2025-05-14 07:13:27 -07:00
Yuval Tassa dd28b887d4 Rename C sparse structure to M in mjdata, improve docstrings. 
PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
 2025-05-14 05:26:19 -07:00
Yuval Tassa 627fffdef9 Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure. 
PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
 2025-05-13 10:20:32 -07:00
Yuval Tassa b53ed63b5f Use 2humanoid100.xml model in a benchmark test. 
PiperOrigin-RevId: 757784271
Change-Id: I7da11ab85ba9f5e023cdbe3c77d31224f3444ca5
 2025-05-12 08:59:14 -07:00
Yuval Tassa c2ac0d724e Add mju_gather and mju_scatter, private engine functions. 
PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
 2025-04-22 10:33:33 -07:00
Kyle Bayes 606f00f802 Remove contact pruning with box-box collisions in nativeccd and add benchmarks. 
PiperOrigin-RevId: 744732382
Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
 2025-04-07 08:34:04 -07:00
Kyle Bayes 467a63d203 Add BoxBox to ccd benchmarks. 
PiperOrigin-RevId: 738761460
Change-Id: If59d306748d64e9e30abe65daa746a4f8e9ec78c
 2025-03-20 05:16:33 -07:00
Yuval Tassa 0f563ecf31 Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism. 
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
 2025-03-04 17:34:35 -08:00
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Alessio Quaglino c52d1b3941 Remove the particle composite (replaced by replicate). 
PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
 2025-02-23 03:14:11 -08:00
Yuval Tassa b516edae1b Rename inertia factorization routines: 
```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```

PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
 2025-02-18 09:42:05 -08:00
Yuval Tassa fb07e0d1f7 Convert qLD to CSR format. 
PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
 2025-02-18 07:14:45 -08:00
Yuval Tassa e39a5df06a mju_compressSparse(): add option to compress away small elements. 
PiperOrigin-RevId: 726010576
Change-Id: Ib6458037a5cf9a9d82abb364b7dda7aab2f36807
 2025-02-12 05:08:20 -08:00
Yuval Tassa 5ee0654830 Roll back recent change to mjData.qLD until some issues are resolved. 
PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
 2025-02-07 10:21:42 -08:00
Yuval Tassa c27d3758c2 Convert qLD to CSR format. 
PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
 2025-02-06 08:59:35 -08:00
Yuval Tassa 00010f5848 Compute diagonal indices in mj_sqrMatTDSparse 
PiperOrigin-RevId: 713714087
Change-Id: Icc8eae74e6e47ba1d12a6e9aa0d774ab006cfe38
 2025-01-09 10:17:31 -08:00
Yuval Tassa 8a5f092081 Allow CSR back-substitution to handle multiple vectors. 
PiperOrigin-RevId: 713229673
Change-Id: I7a5b43fe966cf9e482bd41e2eea6c30dd3ffa1d4
 2025-01-08 03:32:16 -08:00
Yuval Tassa ac11e5faa6 Add CSR implementation of mj_factorI 
PiperOrigin-RevId: 712498431
Change-Id: I13b52e53482ed97da8788875d4d95e2beb5ca7c1
 2025-01-06 05:48:14 -08:00
Yuval Tassa 7eb8231fda Represent only the lower triangle in Newton solver's reduced dof-dof matrix. 
PiperOrigin-RevId: 712488529
Change-Id: Iad91c72654376539791d7856765a0d0ac9088251
 2025-01-06 04:58:55 -08:00
Yuval Tassa 4510c6d290 Further speedup to CSR back-substitution using dof_simplenum. 
PiperOrigin-RevId: 711440268
Change-Id: I81cd9a6a8b8ec78d08cfbc34f60a9216ea753833
 2025-01-02 09:04:51 -08:00
Yuval Tassa ea98c57921 Clean up engine_core_smooth_benchmark_test. 
PiperOrigin-RevId: 709573203
Change-Id: I461f259c33d74b3eaf0b6fe58124fe09418c5303
 2024-12-25 07:44:25 -08:00
Copybara-Service 526637f118 Merge pull request #2276 from traversaro:reducetestboilerplate 
PiperOrigin-RevId: 707613522
Change-Id: Ic945c6b057b77f3462dbdb758139af12133f6a8f
 2024-12-18 11:22:59 -08:00
Yuval Tassa 1c4c7b012c CSR implementation of mj_solveLD. 
PiperOrigin-RevId: 704316200
Change-Id: Ibaff0284e40b3ebbe43bb489b6211ce739270e27
 2024-12-09 09:34:17 -08:00
Silvio 756a8d716a Reduce cmake test boilerplate 
All instances of mujoco_test in the code base were followed by
a call to  target_link_libraries(<testname> fixture gmock).

As anyhow mujoco_test already was calling target_link_libraries
to some predefined list of targets (mujoco and gtest_main),
this PR adds to the list of default linked targets also fixture
and gmock, to reduce the boilerplate.

Furthermore, to completly remove the need for calling
target_link_libraries after a call to mujoco_test, this PR also
add to the mujoco_test macro the ADDITIONAL_LINK_LIBRARIES
argument, that can be used if a given test needs to link some
additional targets beside the default ones.

To permit to use these new features also for mujoco benchmarks,
this PR adds a MAIN_TARGET parameter to mujoco_test, to select
if gtest_main or another target is used to provide the main
entry point to the test executable.
 2024-12-07 17:14:20 +01:00
Yuval Tassa a4a6248a06 Move AsVector utility to fixture.h 
PiperOrigin-RevId: 690577546
Change-Id: I2cebcffa1f2e3b0789f43e772e364c4762719ab3
 2024-10-28 05:52:25 -07:00
Yuval Tassa 62ec802ec1 Tweaks to benchmarks. 
- Modify parse_benchmark_test to not time the first instance of file loading.
- Improve readability of step_benchmark_test.

PiperOrigin-RevId: 680953562
Change-Id: I4569d1b946ecb49b6590ea313f0b598ffc897888
 2024-10-01 04:08:40 -07:00
Kyle Bayes 43a82e08be Add benchmark test for collisions. 
PiperOrigin-RevId: 680554813
Change-Id: I0be5b102d68aa1a54b4ceca6b2bd24fbc519f5df
 2024-09-30 06:46:25 -07:00
Yuval Tassa 4e3dc14f8e Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>) 
PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
 2024-09-10 15:14:04 -07:00
Alessio Quaglino 4862b9e765 Remove plugin support from Composite particles. 
This functionality is replaced by FlexComp.

PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
 2024-09-09 04:58:26 -07:00
Yuval Tassa 19d505d847 Remove unused texture attribute in some models. 
PiperOrigin-RevId: 648497401
Change-Id: I9f9a843abfb710afaf25798fa659efd92bcd7007
 2024-07-01 15:05:02 -07:00
Kyle Bayes b47d97652e Load from VFS in parsing benchmark. 
PiperOrigin-RevId: 610384849
Change-Id: Id226c30f1629d6b4bbc2231c1e998e733c27772e
 2024-02-26 06:08:11 -08:00
Alessio Quaglino 83515446b6 Add missing models to all_models and all_test_models. 
PiperOrigin-RevId: 574491634
Change-Id: I943043b21056d7f22dd1c50454deee3f49e7eac0
 2023-10-18 08:59:54 -07:00
Alessio Quaglino 6f8128dc6a Fix benchmark label for plugin flag test. 
PiperOrigin-RevId: 572891541
Change-Id: I442e31f7e4164789759be0d2c71275fdb1398955
 2023-10-12 06:53:38 -07:00
Matthew Bennice 071af3b015 Implement threading for island constraint solving. 
Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
 2023-10-05 21:05:19 -07:00
Alessio Quaglino d3d46e16a4 Remove cloth and rope composites and deprecate loop. 
PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
 2023-09-25 03:38:43 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Kyle Bayes 50e968a6e2 Add particle.xml to benchmark tests. 
PiperOrigin-RevId: 561003057
Change-Id: I73094a135ae006eeb041fe55ebf3e998ebe6b3ab
 2023-08-29 05:52:57 -07:00
Kyle Bayes ba12a1354b Optimize and refactor combineSparse and combineSparseCount. 
PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
 2023-08-18 06:14:09 -07:00
Kyle Bayes 2d7d5319f7 Rework sparse addM function to support compressed sparse matrices. 
Note:

- M is still a nv x nv uncompressed sparse matrix.
- NNZ precounting still needs to be implemented using the combineSparseCount helper function.

PiperOrigin-RevId: 554452710
Change-Id: I14adf58fc3acd4ed82d864d7c2e9e96ee6b0377d
 2023-08-07 06:07:24 -07:00
Kyle Bayes 2b6ea95d16 Fix dimension of res vector in sparse benchmark test. 
PiperOrigin-RevId: 540336845
Change-Id: I79d4c487455a0642d57f36abe0e38eae92f212fa
 2023-06-14 11:49:53 -07:00
Kyle Bayes c79dc39e50 Internal change to parsing benchmarks. 
PiperOrigin-RevId: 539926231
Change-Id: Ia9128df6dad0b720950bbcb458b8ccb95758dae6
 2023-06-13 04:54:46 -07:00
Kyle Bayes 81d74c56e1 Separate mj_addM into dense and sparse functions. 
PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
 2023-06-09 06:44:19 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Kyle Bayes 9924cce4b7 Add nnz per row precount method for mju_sqrMatTDSparse. 
PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
 2023-04-04 06:21:22 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Kyle Bayes 056e849273 Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices. 
PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
 2023-03-15 06:56:16 -07:00