chenlin/Mujoco_WASM
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8a8305d3ca07f2babc7d4a38b2eadc892856f396
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5 Commits

Author SHA1 Message Date
Nimrod Gileadi 8a8305d3ca Avoid unnecessary copies after of mju_mulQuat. 
Since fdbbc8bbe0, mju_mulQuat allows in-place computations.
There were a few places where the result was unnecessarily assigned to a temporary variable.

PiperOrigin-RevId: 477746005
Change-Id: I7351ef4796e7d70a4a54b930037bfaadee781f12
 2022-09-29 09:33:50 -07:00
Yuval Tassa fdbbc8bbe0 Allow in-place computation for mju_mulQuat and mju_mulQuatAxis 
PiperOrigin-RevId: 471222168
Change-Id: If43210636cf20000b343ad1efd02836465380ebe
 2022-08-31 04:09:08 -07:00
Kevin Zakka ec7133b0d3 More efficient implementation of mju_rotVecQuat. 
```
Before:
BM_RotVecQuat_mean           10.1           10.1    833409628  99.055M items/s

After:
BM_RotVecQuat_mean            6.41           6.41  1200000000  156.095M items/s
```
PiperOrigin-RevId: 454601673
Change-Id: Ibb3ce8a6c838a88bdcebd7aaa979b649639edf0b
 2022-06-13 07:16:55 -07:00
Kevin Zakka 53d3220fcc Fix quaternion typos. 
PiperOrigin-RevId: 453203844
Change-Id: I7d788c21bb00b7746f941fb2cf755f0b046e35f2
 2022-06-06 08:24:21 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00