3325971840
Add mj_maxContact API function.
...
PiperOrigin-RevId: 903135055
Change-Id: I5f103c7d51f97e327c923bc567002ace835f5517
2026-04-21 04:03:22 -07:00
6af0d4c823
Replace margin/gap max with sum.
...
PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
2026-02-11 14:22:27 -08:00
419b96cb91
Reduce simulation steps in MjCollisionTest.PinchingSucceeds.
...
PiperOrigin-RevId: 868229821
Change-Id: I781955a8f06ca2338baa713ff6a3448b4743b35e
2026-02-10 11:05:10 -08:00
a54c9f1d78
Specialized box and capsule collision primitives for stable 2D flex interactions.
...
PiperOrigin-RevId: 864500749
Change-Id: I52aed6e29569477a8a0b6b5eb55ad483f1077c0e
2026-02-02 13:36:42 -08:00
5a24eb2d34
Add error reporting to model loading in engine tests, where missing
...
PiperOrigin-RevId: 795844607
Change-Id: I4163c53c05796c2e3036af28a98f58c15bb1c99c
2025-08-16 08:11:49 -07:00
5a70ad08ab
Add Flex component.
...
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
9cf1f6eba4
Remove mjOption.collision and associated option/collision attribute.
...
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
2023-09-18 15:15:54 -07:00
70959c1a2c
Added a collision midphase on geom pairs using rotated AABBs static trees.
...
PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
2023-03-17 02:37:29 -07:00
dc3a900809
Apply body pair filtering at broadphase.
...
mj_contactFilter removed geom pairs where their bodies share the same weldid, but this check can be applied at broadphase instead of at geom-geom level.
PiperOrigin-RevId: 507435848
Change-Id: Ia37c741071dc5e1c26686dd319f42c9bd334d305
2023-02-06 03:46:20 -08:00
f85f3fba2f
Avoid duplicate contact points in compound bodies.
...
Sometimes broadphase returns the same body pair multiple times. In those cases, avoid creating every contact twice.
PiperOrigin-RevId: 499869235
Change-Id: I58606168b0723d40b4fdd43b1fafad79bf35d76d
2023-01-05 07:28:05 -08:00
1913a02b40
Initial open sourcing of MuJoCo.
...
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Kyle Bayes