- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec.
- The returned spec is then composed into the referencing spec.
- This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code.
Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders.
The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML.
In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and
not assume we are striclty dealing with MJCF.
PiperOrigin-RevId: 826149497
Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
This allows setting attributes with bind using a list of mjSpec objects as arguments.
PiperOrigin-RevId: 825456920
Change-Id: Ie6af956feab0a805175d7aaecf26e071401fbf05
The user can recover the old behavior by passing prefix="".
This enables to attach children with default and save a valid result to XML.
PiperOrigin-RevId: 825011185
Change-Id: Id20c2589da928bf92b77bdb01cfba73dfc1d2f52
`xfrc_applied` mostly contains user perturbations which are rare. It is very often identically zero and for large arrays `mju_isZeroByte` is significantly faster than `mju_isZero`.
PiperOrigin-RevId: 824975356
Change-Id: Iadb1d300d68cf12de00c14a0665bd89924a2d7e0
This includes the filament, toolbox, and studio projects.
Adds a MUJOCO_BUILD_STUDIO option to enable building of the `studio` app (disabled by default).
Adds a MUJOCO_USE_FILAMENT to allow the studio app to use the filament rendering backend. A separate MUJOCO_USE_FILAMENT_VULKAN flag can be used to enable vulkan rendering.
PiperOrigin-RevId: 824602367
Change-Id: I26d46c16211ae2118f96c163c4194fea5b5a15a9
Adds targets for dear_imgui, implot, filament, sdl2, and webp. These
targets are not currently used.
PiperOrigin-RevId: 824554405
Change-Id: Ibebdd50752d251852a945b6abc230e2c6e65fae9
This ensures that at e.g. the barycenter of the triangle each vertex has weight 1/3, as one would expect with barycentric coordinates, rather than 1/sqrt(3). This makes it consistent to the finite element interpolation used in the passive elastic forces.
PiperOrigin-RevId: 823458736
Change-Id: Ia5c02cba186a80612de38402f791695c33e991ab
The smaller size is a warning/error on some targets:
```
error: ‘ bytes’ directive output may be truncated writing 6 bytes into a region of size between 0 and 15
```
PiperOrigin-RevId: 823047552
Change-Id: Id66b5828cf84a512dffc452753f1881deb685584
FetchPackage calls FindOrFetch, but sets USE_SYSTEM_PACKAGE to OFF
(i.e. do not find, just fetch). It also sets EXCLUDE_FROM_ALL.
PiperOrigin-RevId: 822565180
Change-Id: I70476f57b8d3371cefd02e840add279423913f3f
This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.
PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
Sam Haves