chenlin/Mujoco_WASM
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28 Commits

Author SHA1 Message Date
Copybara-Service f1bcac2952 Merge pull request #2893 from joanllobera:fix/passive-attribute-droped 
PiperOrigin-RevId: 878958794
Change-Id: I2d1fe080bd02b5c3e685cefbf36d45821cdfb46d
 2026-03-05 03:18:10 -08:00
Kyle Bayes 57e6760ec9 Re-implement VFS internals in C++, removing the constraints of the previous implementation. 
PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
 2024-07-04 09:22:23 -07:00
Kyle Bayes e66b9a36b2 Remove mj_makeEmptyFileVFS and mj_findFileVFS from MuJoCo API. 
PiperOrigin-RevId: 645393666
Change-Id: Iabe939c88f60b80dce20f84c7ff9a6396717cc84
 2024-06-21 08:12:51 -07:00
Kyle Bayes 18397e61ec Replace calls to mj_makeEmptyFileVFS with mj_addBufferVFS in MuJoCo Unity bindings. 
PiperOrigin-RevId: 640168011
Change-Id: Ic592b5cbedb89981ac24d4b8d2c864ceaf415e46
 2024-06-04 08:50:12 -07:00
Balint-H c2bef232b6 Handle the implicit auto value for limits now written by the compiler to the xml 2024-03-14 12:38:56 +00:00
Copybara-Service 73f65ec408 Merge pull request #1428 from Balint-H:feature/unity-plugins 
PiperOrigin-RevId: 612144507
Change-Id: Ie355c0da2b4a51331aadcfce865a1edd720381b5
 2024-03-03 02:16:08 -08:00
Bálint Hodossy c65410a92d Preliminary support for plugins. Load all plugins in plugin folder. 2024-02-18 14:45:54 +00:00
Bálint Hodossy 2c024164ea Edit hfield_data in Unity 2023-12-21 16:04:25 +00:00
Bálint Hodossy d0b505c67b Reformat scripts to better follow guidelines 2023-12-19 13:54:49 +00:00
Bálint Hodossy 315a2f334f Fix whitespace in reformatted code from GitHub 2023-12-11 14:57:40 +00:00
Balint-H d3429f97cc Merge branch 'main' into feature/unity-hmap-dyn 2023-12-07 14:07:21 +00:00
Bálint Hodossy 2adfd09b87 Rebuild scenes on terrain changes for dynamic heighfields 2023-12-07 13:34:33 +00:00
Copybara-Service e4359c04df Merge pull request #1253 from Balint-H:feature/unity-hmap 
PiperOrigin-RevId: 588420615
Change-Id: I2340f2fc025017133644eeedacf94b5c83e04669
 2023-12-06 07:32:45 -08:00
Bálint Hodossy 3e3687d022 Add functionality to synchronise rendered terrain to position of the geom 2023-12-05 18:49:32 +00:00
Bálint Hodossy 8ec1e4e2b8 Add heightfield geom type with Unity terrain, import not yet supported 2023-12-04 13:55:38 +00:00
Tom Erez f3c966796f Allow models without numerical suffixes. 
This is important for MJPC, where some element special names (e.g., a site called "trace0", or different custom numeric fields) are used.

PiperOrigin-RevId: 502338391
Change-Id: I632b5d633c92b82b60160daeeb169693225640a3
 2023-01-16 02:59:11 -08:00
Tom Erez f70403d00a Add support for global custom numeric fields. 
PiperOrigin-RevId: 495865065
Change-Id: I59ed65e84a0bcaa90220b938ed34fdc26165aa09
 2022-12-16 07:03:31 -08:00
Tom Erez 21f10ce1b6 Add user sensor bindings. 
Stop force-setting nusersensor, instead allow MuJoCo to infer the size.

PiperOrigin-RevId: 494783883
Change-Id: Ia2a1b1803b2904f2dded7b790d01eb6f1920dbaf
 2022-12-12 11:43:00 -08:00
Copybara-Service 2a8acf77ed Merge pull request #491 from Balint-H:weld 
PiperOrigin-RevId: 479802394
Change-Id: Ieefec4e1ca29fb137947d458837d8ff3c3ee97f3
 2022-10-08 09:24:29 -07:00
Bálint Hodossy 0ae8b966e7 Remove stray space in MjEngineTool 2022-10-08 14:04:37 +01:00
stonfute 401e5daf82 Update float parsing 
Update float parsing using InvariantCulture to not depend on OS language to parse float value.
Usefull for French, German, ... users where comma is default notations for the decimal point parsing.
 2022-10-06 12:14:18 +02:00
Bálint Hodossy d0a628f464 Fix MjWeld using wrong address in Unity plugin 2022-09-17 17:35:09 +01:00
Tom Erez 68718e76b1 Ensure that memory allocated by mju_malloc is freed by mju_free. 
Previously, `vfs->filedata` memory was allocated via `mju_malloc` in C and released using `Marshal.FreeHGlobal` in C#. In 5cc73c30bf, `mju_malloc` started returning 64-byte aligned pointers, which should not be freed by a deallocator that isn't aware of this alignment.

Fixes #479.

PiperOrigin-RevId: 474596441
Change-Id: I8a8383c7eaa2c1ec516d81f92a2f90e7aedfe2ee
 2022-09-15 10:26:09 -07:00
Tom Erez 26a0441e7c add a script that converts MJCF models to PhysX. 
PiperOrigin-RevId: 461520759
Change-Id: I177195af60645169294180da8b99740426d23d8f
 2022-07-17 20:08:31 -07:00
Tom Erez 02f300c762 Refactor: separate buffer indexing and swizzling. 
This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool.

PiperOrigin-RevId: 451699887
Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
 2022-05-29 00:24:30 -07:00
Tom Erez ef9fa9dfe4 Get rid of the opaque "entryIndex" argument. 
Use pointer arithmetic instead.

PiperOrigin-RevId: 451493057
Change-Id: Ic89ad8ff1d3191180031a1011c1b100eaea12f6f
 2022-05-27 15:24:22 -07:00
Saran Tunyasuvunakool 3577e2cf8b Version 2.1.2: Python bindings, OBJ assets support, bugfixes. 
PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
 2022-03-15 14:04:44 +00:00
Tom Erez 6de9eafa13 Initial release of the Unity plugin. 
PiperOrigin-RevId: 425947505
 2022-02-02 20:44:39 +00:00