These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
This enables to find the spec associated with the compiler option stored in the objects, which do not necessarily belong to the model that owns them.
PiperOrigin-RevId: 713259419
Change-Id: I579c770147ff07ed2a5edd20e7a795ee7cc27147
This can happen when a body is detached without compiling or recompiling.
Also added error catching when trying to delete a body instead of detaching it.
Fixes#2327
PiperOrigin-RevId: 712526730
Change-Id: I4b48df83120fca12d475c85b3a54893841449653
Fast lookup is not possible since mjOBJ_FRAME > mjNOBJECT, which is the size of the objects maps used for the search.
Fixes#2328.
PiperOrigin-RevId: 712479460
Change-Id: I7bcfa75ff8a1e288183d60ed4a44cab5bc6f4173
This is required to have parent body info during attach and during body to frame tranformation for uncompiled models.
PiperOrigin-RevId: 703038426
Change-Id: Ib482059ba419a020860c649d6ea1b1088045f2e1
Also associate all children that need a parent body to the parent of the deleted body.
This is a bug that was causing the former children of the body that gets transformed to a frame to not be children of the new frame.
PiperOrigin-RevId: 702702853
Change-Id: I36d48f0446bc87c665b18d34e0b0609d82c70f51
Spec were copied after bodies are attached, so the reference to the source spec got lost during mj_copySpec().
PiperOrigin-RevId: 701287267
Change-Id: I55eff53c7ae9d42b03957be48ea506b80d274e03
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
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes#2013.
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
This allows to resize parent keyframes also when the child has no keyframes.
PiperOrigin-RevId: 691045299
Change-Id: I3ab6509b13b5754e937ec77daf9efe697cabf1bc
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
The qposadr_ and dofadr_ variables of the joints were not being reset to -1 when a joint is copied. This could lead to errors when calling mj_recompile after attaching a compiled spec.
PiperOrigin-RevId: 686152004
Change-Id: I9e058089ce87ea0d8e51a7f43475bc48c6527a26
Tom Power