2810edd27a
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
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PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
2026-05-21 06:43:29 -07:00
9fa3f6f77e
Enable float32 testing for most MuJoCo engine and user tests.
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PiperOrigin-RevId: 886697701
Change-Id: I4a96fae03ea18494c3fcef8eb17b3b6f0863e9b7
2026-03-20 04:05:06 -07:00
82e92cbcaa
Remove PluginTest and make MujocoTest load plugins.
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MujocoTest now loads plugins from MUJOCO_PLUGIN_DIR if set.
PluginTest is removed; all tests use MujocoTest directly.
testspeed binary loads plugins from MUJOCO_PLUGIN_DIR.
This is in preparation for moving common asset format parsing (obj, msh, stl, etc.) where we will always want to load those plugins.
PiperOrigin-RevId: 874194428
Change-Id: Id90805a9ba5de4627911b56d8b9c4ab4e1b29310
2026-02-23 12:15:22 -08:00
218226fc95
Breaking change: Add surface normal output to MuJoCo raycast functions.
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PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
2026-01-13 10:22:21 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
b28b5db680
Add mj_multiRayNormal for multi-ray casting with normal computation (not exposed in public header)
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PiperOrigin-RevId: 847821078
Change-Id: I616441d3460406a92a10731d1a086af6163e96ad
2025-12-22 11:02:58 -08:00
223ba99ec2
Add mju_rayFlexNormal (not exposed in public header)
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PiperOrigin-RevId: 847746174
Change-Id: Ia8f597d296bf6a3eed9bd48b1c39b2ff2b5fcf90
2025-12-22 06:49:22 -08:00
f06aa45ea6
Consolidate ray normal functions.
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PiperOrigin-RevId: 842300829
Change-Id: Ic5e921084710cb044a4f49ea9b566d277838aaa1
2025-12-09 10:36:10 -08:00
5b1fa666fb
Add mj_rayHfieldNormal (not exposed in public header)
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PiperOrigin-RevId: 842259581
Change-Id: I27d6c46024d55addbc22eed276331e2ef5acfa7d
2025-12-09 08:53:47 -08:00
f65c1cdfd1
Add mj_raySdfNormal (not exposed in public header)
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PiperOrigin-RevId: 842178540
Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
2025-12-09 04:43:39 -08:00
ad24889bb9
Add mj_rayMeshNormal (not exposed in public header)
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PiperOrigin-RevId: 838707353
Change-Id: If31d2454e0668f750bcba21ee42f81ef962e9097
2025-12-01 04:13:52 -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
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
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
6067048537
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
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These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
2024-06-16 10:02:36 -07:00
9ae40e718e
Define mj_multiRay bindings explicitly.
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Fixes #1184 .
PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
2023-11-13 07:31:22 -08:00
c66d79409c
Change mj_ray behaviour to match geom visualisation conventions:
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- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.
Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.
PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
2023-05-24 13:52:21 -07:00
03d6d27f64
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
2023-05-22 12:05:20 -07:00
dab49d487c
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
2023-05-16 11:10:38 -07:00
9d1a21f99d
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
2023-05-16 08:17:50 -07:00
fcc825c5e6
Add cutoff argument to mj_multiRay.
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PiperOrigin-RevId: 532158635
Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
2023-05-15 10:44:37 -07:00
b798f89212
Fix bug with the position of bounding sphere in mj_multiRay.
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PiperOrigin-RevId: 529665457
Change-Id: I486a094303b3b26c8067f8be7aca03afbe8e6217
2023-05-05 02:53:11 -07:00
267299fb59
Change elevation to [0,pi] in mj_multiRay.
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PiperOrigin-RevId: 529393944
Change-Id: I23f3113fd91e909fa1dc23b620d66e963db59355
2023-05-04 06:43:16 -07:00
7e49d935ba
mj_multiRay: Reset elevation angle if crossing the coordinate singularity.
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PiperOrigin-RevId: 529341397
Change-Id: I0ca6ed5b97bcc585b0f426d6fb8a6b4cf9367a2b
2023-05-04 01:50:38 -07:00
2ad82d5998
Add mj_multiRay function to perform multiple ray intersection with the same source.
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PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
2023-05-01 23:02:45 -07:00
0becf8fd98
Remove unused headers in test files.
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PiperOrigin-RevId: 520610859
Change-Id: I5ac906b422a7c02737af85f6a2aea46206f0cb28
2023-03-30 05:26:33 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
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PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Yuval Tassa