The swap chain dimensions are a union of all render request
viewport sizes that use the swap chain.
PiperOrigin-RevId: 916078573
Change-Id: If26a9e1486006ed346227120a361773bfa23f292
Introduce a fast path in mj_addFlexDerivatives for centered flexes where all nodes are attached to bodies with only 3 translational DOFs and no DOF-contributing ancestors. This allows for a direct scatter of K*vec, avoiding the overhead of sparse Jacobian construction and multiplication.
PiperOrigin-RevId: 916063477
Change-Id: I824728a5bdc3b975b04b46ecf22994922e307a8c
This resolves to https://raw.githubusercontent.com/... under the hood.
PiperOrigin-RevId: 916050807
Change-Id: I1630e29a5b5aad0e39cdd8aa4cfc1ff1a71f19d9
The global node indices stored in face_gidx are now checked to ensure they are within the valid range of node numbers, raising an error if any index is out of bounds.
PiperOrigin-RevId: 916025763
Change-Id: I1d2dcb11603137c337493541066b62b2ed2854c0
In `mj_flexPassive`, precompute and cache face positions, global indices, and corotational quaternions for all faces. This avoids redundant calls to `mju_flexGatherFaceState` for each bending edge, as each face can be part of multiple bending edges. This gives a 3-4x speedup in mj_passive.
PiperOrigin-RevId: 915912918
Change-Id: I3e1c00cf2d989f85398a0750a0faf359249cfe01
Reflections, shadows, and post-processing can be specified per render
request rather than per scene.
PiperOrigin-RevId: 915910030
Change-Id: I8ce773b42870aa76a2d8219347ca1cafaec1a97b
Skip flexedge velocity calculation for rigid and interpolated flexes, as they are not used in those cases. The computation is now done per-flex, only for the edges within each non-rigid, non-interpolated flex.
PiperOrigin-RevId: 915907396
Change-Id: I0beb1f98f0115c83da13fed184e89101f57563ab
This gives a 3x speedup in implicitfast.
Also cleanup old code that was used in the dense factorization of the stiffness matrix before we switched to CG.
PiperOrigin-RevId: 915900315
Change-Id: Id6973c4bfd7d371a43ec6db982703969b23a3550
Install steps aren't needed for WASM builds, and are causing issues with EXPORT relating to lodepng and miniz.
PiperOrigin-RevId: 914891405
Change-Id: If653fe7449b0166ad6762a3fad6b95e02f3532b1
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
This shell test was extremely slow (taking up to 26 minutes under ASAN). In any case the compilation pipeline takes one kick-the-tires step, so the RecompileCompare test effectively does the same thing.
PiperOrigin-RevId: 913646840
Change-Id: If659705b88d0ac64722f88ddf2ae377932e5ef0f
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
Alessio Quaglino