This change introduces a filter for flex-related contacts, ensuring that no more than mjMAXCONPAIR contacts are kept for each geom-flex, flex-flex, flex internal, and flex self-collision pair. The contacts are sorted using farthest-point sampling:
- Starts with the deepest penetrating contact
- Iteratively selects the contact farthest from already-selected contacts
- Produces a spatially distributed set of contacts
PiperOrigin-RevId: 872593388
Change-Id: I50b233a0dc66da6a297852c258ba514f131c8f23
- Detect linker type (lld-link vs ld) and use the appropriate stack flag: /STACK:16777216 for lld-link, --stack,16777216 for MinGW ld
- Filter out stack-related flags from Python binding modules to prevent crashes when loading MuJoCo as a DLL in Python
Fixes#3011
Toggling visualization flags via keyboard shortcuts (e.g., C for contact points, F for contact forces) causes the SECT_RENDERING event handler to unconditionally re-evaluate the camera selection, which can reset a tracking camera to free mode. This particularly affects users of mujoco.viewer who set tracking cameras programmatically.
Guard the camera update logic so it only runs when the camera selector itself is changed, not when other items in the rendering section are modified.
PiperOrigin-RevId: 871600340
Change-Id: Ia6ef2a1617c6cdc18c7d10b4b099a8f2c620a824
C++ standard says the argument to alignof must be a type. Clang and GCC are permissive but MSVC isn't.
PiperOrigin-RevId: 869823902
Change-Id: I7e113ce62a60cc9be499e8580846a5258deea001
Viscous pause is like pause but the simulation continues with zero gravity, high viscosity and passive springs disabled. It is useful to move things like cabinets with shelves---just move the shelf and the drawers come along as well.
* Updated the simulation control widgets
* Added Ctrl-space shortcut to toggle play/viscous pause
PiperOrigin-RevId: 869810053
Change-Id: Icf649e1f2631c2a64a5d2f25af9537b6a12bdf2c
* Replace various MJOPTION_ macros with a single MJOPTION_FIELDS.
* Use XVEC macro to denote vector members where there is a mixture of
vector and scalar members in a given struct type.
* Split up MJVISUAL_FIELDS into separate macros for each substruct.
* Modify engine_print.c and Python bindings struct.h/cc to use the
new X macros.
PiperOrigin-RevId: 869760513
Change-Id: Idac4fe9aa99f0258e7c79802ca9023a0d4486e2d
Most "classic" objects looked washed out. To "revert" to the old look, you can add the following to your XML files:
```
<custom>
<numeric name="filament.phong.specular_multiplier" data="0.1"/>
<numeric name="filament.fallback.scene_light_intensity" data="100000.0"/>
<numeric name="filament.fallback.environment_light_intensity" data="10000.0"/>
</custom>
```
PiperOrigin-RevId: 869725829
Change-Id: Icab0cedaa27915400497745db886c393709c14b1
--
b1734da56e293b50e7bd0cc8b9a8ee5677aa70ec by MatiasManevi <manevimatias@gmail.com>:
Improve wording for WASM Windows support status
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3095 from MatiasManevi:wasm-readme b1734da56e293b50e7bd0cc8b9a8ee5677aa70ec
PiperOrigin-RevId: 869699309
Change-Id: I2780d2406139e33eeb5521f509245d29b69a61ab
Matija Kecman