The flex interp stiffness matrix is Negative Semi-Definite (NSD). When forming the RHS for implicit integration, the term involving the velocity and stiffness should be added, not subtracted. A new test is added to ensure energy stability for flex interp stretch stiffness with the implicitfast integrator.
PiperOrigin-RevId: 914845245
Change-Id: Iaaf0914909128e64e195f17cc5f2f344a8a43bc2
Standard flex (flex_interp=0) with thin-plate bending treated bending forces purely explicitly. This caused contact-induced vertex vibrations and non-physical energy injection for flat resting sheets, because the solver treated each vertex as an independent mass during contact and contact normals are orthogonal to stretch constraints.
Fix: extend the existing preconditioned CG solver to include the constant bending stiffness K_bend in the implicit operator via matrix-free mat-vec.
PiperOrigin-RevId: 914774020
Change-Id: I45e0d6749abb6f873566203bccae956514b2576b
Removes the DoRender and DoReadPixels functions which allowed
FilamentContext to "call" SceneView functions even though
SceneView depended on FilamentContext.
Adds a mjrf_setClearColor function so that we no longer rely
on SceneView setting the clear color.
PiperOrigin-RevId: 914253362
Change-Id: I33c1cc9dfc7cb2f4c3cc855a600cccb0c54ae31c
This is in preparation for a future CL that will disable backface culling.
PiperOrigin-RevId: 914136370
Change-Id: Ie8db1268faaa306c3f3356efc5e1305d791cf525
with a preconditioned Conjugate Gradient (CG) solver that operates
on the full system matrix.
The previous approach extracted flex DOFs into a reduced banded system,
factored it separately, and overwrote the global solve. This required
precomputed bandwidth (makeFlexBandwidth), parent-joint detection,
coupling corrections, and a FlexInterpContext struct — and only worked
for standalone flex trees without parent joints.
The new CG solver uses the already-factored global system (M - h*qDeriv)
as a preconditioner and adds the flex stiffness contribution via
matrix-free products (mjd_flexInterp_mulKD/mulK). This handles any
kinematic configuration — including flexes attached to articulated
chains or with parent joints — without sparsity pattern restrictions.
Before (`bunny_multicell`):
```
Simulation time : 50.80 s
Steps per second : 197
Realtime factor : 0.20 x
Time per step : 5080.3 µs
CG iters / step : 3.16
Contacts / step : 31.04
Constraints / step : 124.15
Degrees of freedom : 178
Dynamic memory usage : 0.4% of 100M
```
After:
```
Simulation time : 9.52 s
Steps per second : 1051
Realtime factor : 1.05 x
Time per step : 951.7 µs
CG iters / step : 3.21
Contacts / step : 30.90
Constraints / step : 123.61
Degrees of freedom : 178
Dynamic memory usage : 0.3% of 100M
```
PiperOrigin-RevId: 913758038
Change-Id: If5aa617b2d535c86aec9bd71c9e0003a2b38bdd7
The coordinates for flex interpolation are now computed using the absolute values of the vertex weights. The sign of the first vertex weight is then applied to the resulting barycentric weights. This correctly handles cases where the flex is both the first and the second entity in the contact pair.
PiperOrigin-RevId: 913590928
Change-Id: I970b35fba3d209e13b5b33bb5f945e3c6a43d487
The normal jump residual in flex elasticity calculations now rotates the rest-frame normal jump into the current frame using the face's corotational quaternion before subtracting the jump from the current normal difference.
PiperOrigin-RevId: 913242127
Change-Id: Ia62b28ecccd59e79225737d8225ef4131b333c96
The maximum depth of the octree used for SDF generation can now be specified in the mesh definition via `mjsMesh::octree_maxdepth`. The default value is 6.
PiperOrigin-RevId: 912494999
Change-Id: I6d828d1d3999b99d1210a6829a05b04fac591e1f
Combines the "Solver" and "Performance" chart windows into a single "Profiler" window for better ergonomics and visual layout:
- Unified Dashboard: Groups the Solver block (Counts & Convergence) and the Performance block (Dimensions & CPU Time) in a single viewable window that scales cleanly without vertical scrollbars.
- Adaptive Stacking: Uses ImGui grouping so each block internally stacks its charts vertically, but tiles side-by-side horizontally when the window is stretched wide.
- Default Docking & Width: Integrates the Profiler into the default dockspace layout attached to the right of the main viewable area, with an optimized initial width scaling factor of 0.42.
- Shortcut and Menus: Adds a toggle shortcut bound to `F3`, updates the Help Shortcuts overlay, and replaces old separate entries in the Charts menu.
PiperOrigin-RevId: 912491435
Change-Id: I1f9215e5498866a01ce48b6aeb4a7461191fa01d
- allow reloading of files that failed to load
- clear errors on successful reload
PiperOrigin-RevId: 912458744
Change-Id: Ie6af87508f10e83461bc998c99c9c66e2d58312e
- RHS: Make Inspector be focused by default.
- RHS: Remove Noise pane, put the functionality in the Controls pane.
- Improve Frame and Label dropdowns.
PiperOrigin-RevId: 912434712
Change-Id: I2ee5b647febfc4a90a0cf9387b1d416f5a0dd4a1
Since the mjz format is just an archive for MJCF assets this seems like a sensible place. The upcoming mjz encoder will also need to make use of the full precision XML utility that is local to src/xml.
PiperOrigin-RevId: 912044746
Change-Id: I6a9fef24b1c3fec5b5edc3a8d4c8e22584273264
Merge shading model, material params, and material textures into a
single "mjrMaterial" type.
Remove redundant decor_line material.
PiperOrigin-RevId: 911960222
Change-Id: Icce3772a8ea48467dfd610799c0c2f2ba752323e
The new function mjs_getOriginSpec returns the mjSpec that was used to define a given mjsElement. Unlike mjs_getSpec, this value remains constant even after the element has been attached to a different model.
PiperOrigin-RevId: 911930951
Change-Id: Ia9cd79d9dfabc513d6121eadcffc5d41075224c9
Move filament_util to the main folder so as to indicate that
these utilities can be used by anyone and aren't internal to
the filament renderer implementation.
PiperOrigin-RevId: 911884375
Change-Id: Ieb58184263bdac7e44a07f1e44a4649c68c6bf77
The Renderable class now internally knows which built-in meshes
to use for a given geom type. It gets these meshes from the
ObjectManager which now stores the collection of built-ins based
on the nstack/nslice/nquad quality arguments.
PiperOrigin-RevId: 911782530
Change-Id: I6698ec3964a5c657f6a9495809cc795eec2e346f
Get the camera and drawmode from the bridges rather than recalculating
it unecessarily.
PiperOrigin-RevId: 911406470
Change-Id: Ia295846bb80105a2b0ad5da21912ca82b25e04bd
Haroon Qureshi