This provides a reduction from 26 to 18 constraints for trilinear and from 162 to 75 for quadratic. The assembly of the constraints becomes trivial. In total the speedup for a trilinear 3x3x3 grid is about 3x.
PiperOrigin-RevId: 902502398
Change-Id: I764772c7adef78da5a644f64701f842d36e4b543
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 897114719
Change-Id: Iee914cc5e05798186f384a67901f1cf86bc2f887
*** Reason for rollback ***
Rolling back obj/stl decoder inclusion as sources due to broken windows build.
*** Original change description ***
Include obj and stl decoder plugins as sources in CMake builds.
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
***
PiperOrigin-RevId: 885576586
Change-Id: I31e6fa4d10697862f7d800d0d771ca752747e36d
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 885555524
Change-Id: I20aa5b6c55b678398345d49cb1c47667ae2bebcf
All instances of mujoco_test in the code base were followed by
a call to target_link_libraries(<testname> fixture gmock).
As anyhow mujoco_test already was calling target_link_libraries
to some predefined list of targets (mujoco and gtest_main),
this PR adds to the list of default linked targets also fixture
and gmock, to reduce the boilerplate.
Furthermore, to completly remove the need for calling
target_link_libraries after a call to mujoco_test, this PR also
add to the mujoco_test macro the ADDITIONAL_LINK_LIBRARIES
argument, that can be used if a given test needs to link some
additional targets beside the default ones.
To permit to use these new features also for mujoco benchmarks,
this PR adds a MAIN_TARGET parameter to mujoco_test, to select
if gtest_main or another target is used to provide the main
entry point to the test executable.
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.
PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
Yuval Tassa