888d3a7b07
Add mj_copyState
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PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
2025-11-25 03:10:30 -08:00
d1317fd1a5
Add ray normal computation for primitives (currently private)
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PiperOrigin-RevId: 834294539
Change-Id: I176f13a8f91dede589338fc44e099a16bac0b580
2025-11-19 08:01:02 -08:00
e18e35f967
Fix normal only for libccd during hfield collisions.
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PiperOrigin-RevId: 833933161
Change-Id: I3a4ff044276d9c7305154da09b440168f0f22305
2025-11-18 12:55:56 -08:00
b8512b9d1f
Fix bug related to sleeping static children of mocap bodies.
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PiperOrigin-RevId: 831376685
Change-Id: I8891a1d7dc6efc037e9ade5c7e8dd5c35c7e455e
2025-11-12 07:20:03 -08:00
22c0b68903
Improve logic and documentation for sleeping sensors
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PiperOrigin-RevId: 830891115
Change-Id: Ife8309b165c085b54c9f668d825d69ed12a9a8f0
2025-11-11 06:45:56 -08:00
39f0321a68
Clean up NativeCCD testing models.
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PiperOrigin-RevId: 830733959
Change-Id: Ie7f71c36d2efafd37aecef54ca4897cebd6d091f
2025-11-10 21:31:02 -08:00
883836848a
Fix box-box distance computation.
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PiperOrigin-RevId: 829431553
Change-Id: I9e28bc8eb7687c3c83e5ff68c65e93d8a07378a9
2025-11-07 07:37:03 -08:00
769f37b653
Implement sleeping in engine
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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
2025-11-07 03:33:07 -08:00
252a0d73df
Add sleep related data structures
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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
85e9cff0c1
Update mj_geomDistance: don't flip geoms for nativeccd.
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PiperOrigin-RevId: 824463375
Change-Id: Ic9c4cac916129b88575e0366e1b95353ce716ca2
2025-10-27 04:48:36 -07:00
2f65e23779
Add mj_extractState as a public API function.
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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
2025-10-21 10:01:22 -07:00
ff7c94de8a
Add quadratic interpolation to mju_interpolate3D.
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PiperOrigin-RevId: 820252349
Change-Id: I983175eb51d7e1a81da06c0911326fcb8f5fe764
2025-10-16 08:48:20 -07:00
5715cebbb9
MSAN: Don't clear mjData.sensordata in mj_resetData
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This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.
PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
2025-10-15 08:31:03 -07:00
91257896c0
Implement faster mju_isZeroByte.
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PiperOrigin-RevId: 814148714
Change-Id: Iaf5ed9d3502eaaaee8d46a986f2db00811ae0707
2025-10-02 02:53:53 -07:00
bdccbcc60a
Add multiccd fields to MJX and add simplex box-mesh model.
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PiperOrigin-RevId: 813190617
Change-Id: Idc450da59d6420825077a642719525750f6551ec
2025-09-30 03:40:29 -07:00
70d03adc71
Store the status of the scene in the scene itself.
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PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
2025-09-30 00:06:00 -07:00
fc8979ed4a
Add test for checking exhausted geoms.
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PiperOrigin-RevId: 812776271
Change-Id: Ic9456ab201610a69237182ac22147e3d3e240308
2025-09-29 07:18:12 -07:00
fe8384b6c5
Visualize joint and tendon limits by re-coloring.
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PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
2025-09-25 19:02:26 -07:00
d71d42a374
Add private function mju_isZeroByte to check for byte-wise zero.
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PiperOrigin-RevId: 810456282
Change-Id: I877d0f9225e7a783ed7ff12ce54f4ed0a7889793
2025-09-23 08:49:43 -07:00
d616f11508
Remove references to deprecated nconmax and njmax.
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PiperOrigin-RevId: 809987304
Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111
2025-09-22 06:28:41 -07:00
681f5767b2
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
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PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
2025-09-18 12:28:09 -07:00
b9900db00e
Extract memory allocation functions and core utilities
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PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
2025-09-01 03:38:25 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
7443e685ac
Allow contact sensor subtree1/subtree2 to be any body.
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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 11:00:39 -07:00
1ac51cf2a5
Update comment in engine_forward_test.cc.
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PiperOrigin-RevId: 799550233
Change-Id: I75840bdcb94d4b10962f1fff5a225a6fe5bc0672
2025-08-26 07:12:51 -07:00
ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
4cf5c37211
Fix spelling in engine_forward_test.cc.
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PiperOrigin-RevId: 799147728
Change-Id: If5e734ba31961d459281f7cb5edea7c370c1f2fd
2025-08-25 09:15:48 -07:00
a230aa60c5
Improve mj_addM and associated test
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- Updated docs to clarify that only the lower triangle is touched
- The function was unnecessarily adding the upper triangle in the sparse case
- The test used an unnecessarily large model and stepping it leading to timeouts under ASAN
PiperOrigin-RevId: 798528736
Change-Id: I592cc17dfb62379bb0cd6b332a8eb7e8b0ef6355
2025-08-23 03:56:47 -07:00
2f28473bc1
Remove transposed Jacobian fields from mjData
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No longer computed unconditionally, only ad-hoc where required.
PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
2025-08-21 07:21:24 -07:00
f71053243e
Replace std::array with C-style array for error buffer in GJK tests.
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PiperOrigin-RevId: 797730796
Change-Id: I228c58e163c8c6d1426a88c1a6f447c4a56a34e6
2025-08-21 06:03:53 -07:00
174a50442d
Allow transposing of sparse sub-matrices whose first row is > 0
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PiperOrigin-RevId: 797728559
Change-Id: I3c825118dae198333d357d2e4f248d00b0f5d8ce
2025-08-21 05:56:33 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -07:00
972ffd7b90
Improve mj_fullM documentation, add clarifying test.
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PiperOrigin-RevId: 796134559
Change-Id: I85ab3680d3545ccf83d0d3af8a7c21cb36e96d4e
2025-08-17 11:02:14 -07:00
1447711037
Rename spec to sig in state-related API functions.
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(to avoid confusion with mjSpec)
PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
2025-08-16 08:38:25 -07:00
5a24eb2d34
Add error reporting to model loading in engine tests, where missing
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PiperOrigin-RevId: 795844607
Change-Id: I4163c53c05796c2e3036af28a98f58c15bb1c99c
2025-08-16 08:11:49 -07:00
bbb70d98a4
Add utility functions for mapping between sparse matrix patterns.
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PiperOrigin-RevId: 795543910
Change-Id: I92be3afc3cd90020027737fffdba18c45e25f825
2025-08-15 11:22:35 -07:00
977f94e9df
Delete sparsity structures from mjData, use the ones in mjModel
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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
2025-08-14 09:13:02 -07:00
996f0040fd
Add built-in sphere mesh.
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PiperOrigin-RevId: 791162850
Change-Id: I573a414727e79f1a495e0f2282b2faff48ab3443
2025-08-05 05:05:05 -07:00
7b9f5bdae7
Fix bug in raycast to hfield. Fixes #2765
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PiperOrigin-RevId: 790784429
Change-Id: Ib2319722796ed510afed960bbf5cebc86cf185a9
2025-08-04 09:40:59 -07:00
f2a2afeb03
Fix address bug in meshEdgeNormals in doing edge multiccd with meshes.
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PiperOrigin-RevId: 790731924
Change-Id: Ia475b1f01731518166f229c25ebffd1fbf7c7939
2025-08-04 07:03:14 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
a771fc6c09
Increase mjNSENS to 3
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PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
2025-07-29 08:38:13 -07:00
576a34bcf2
Add netforce reduction to contact sensor.
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PiperOrigin-RevId: 783020713
Change-Id: I0d11ccc4e1fd16d07e6f116d64a26485346d9cf1
2025-07-14 13:27:43 -07:00
d0e4771c8c
Add contact sensor.
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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -07:00
ef013a0633
Add mjPARTIAL_SORT macro to engine_sort.h
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PiperOrigin-RevId: 782999687
Change-Id: I986aec0e1faedae90f1891b5f3233d5262d167f3
2025-07-14 12:26:36 -07:00
cef02fabea
Remove sdflib plugin and move interpolation to engine_collision_sdf.
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Before:
```
Simulation time : 1.71 s
Steps per second : 5854
Realtime factor : 11.71 x
Time per step : 170.8 µs
Newton iters / step : 2.19
Contacts / step : 3.45
Constraints / step : 13.79
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
After:
```
Simulation time : 1.41 s
Steps per second : 7093
Realtime factor : 14.19 x
Time per step : 141.0 µs
Newton iters / step : 2.19
Contacts / step : 3.45
Constraints / step : 13.79
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
PiperOrigin-RevId: 781087896
Change-Id: Iaf69dccc5e95af5bac862344683c74f962162186
2025-07-09 09:29:47 -07:00
a3d251f552
Add mjModel.sensor_intprm, integer parameters of sensors
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PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
2025-07-09 08:00:21 -07:00
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
1c98dfd86e
Remove unused header
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PiperOrigin-RevId: 777505320
Change-Id: I39d4ccf47a49bfb6f74090e59c68373e76a0bcf5
2025-06-30 04:09:10 -07:00
Yuval Tassa