The `mjCOctree::ComputeSdfCoeffs` function has been replaced by `mjCOctree::ComputeSdf`. The new implementation removes the dependency on the `triangle_mesh_distance` library. Instead, it uses a provided `mjCBoundingVolumeHierarchy` to perform closest point queries on the mesh. The signed distance is computed by finding the closest triangle face via the BVH and determining the sign based on the dot product of the vector from the closest point on the triangle to the octree vertex and the triangle's normal.
Optional Laplacian smoothing has been added to the SDF coefficients. This helps smooth out potential discontinuities at octree level boundaries.
PiperOrigin-RevId: 875093374
Change-Id: I6fa53243a2dda107ccf255bc6b876ca5a4554d4f
This change introduces methods to cache and load the computed stiffness matrix and nodal masses for flex elements. The cache key is generated based on material properties (Young's modulus, Poisson's ratio), interpolation order, and the bounding box of the flex. This avoids redundant expensive computations when compiling models with identical flex definitions.
PiperOrigin-RevId: 874689771
Change-Id: I6d1e299baf294a984b507e2a2602b2c068610536
The logic for computing Signed Distance Function (SDF) coefficients using TriangleMeshDistance is moved from `mjCPlugin::Make` in `user_mesh.cc` to a new method `mjCOctree::ComputeSdfCoeffs` in `user_objects.cc`. This encapsulates the SDF computation within the octree class.
PiperOrigin-RevId: 874572414
Change-Id: Ia2365c9c4527a252ff1d1bb43fe2c2593761e471
FuseStatic deletes static (joint-less) bodies and reassigns their
children to the parent body. Geoms and sites were reassigned, but
cameras and lights were not, leaving dangling body pointers that
crash in mjCCamera::Compile() / mjCLight::Compile().
Add camera and light reassignment in FuseStatic and FuseReindex.
Fix a crash and dimension mismatch issue in user_flexcomp when dealing with interpolated="true" meshes that contain unused vertices. Previously, vertbody would correspond only to used vertices while vert included all vertices, leading to assertions or out-of-bounds access. Also enable node pinning for interpolated meshes.
PiperOrigin-RevId: 865881995
Change-Id: Id150f00f22b5f48896ffbffddf03c57b252de8c0
Otherwise, if you try to open a random file in studio, it will crash.
PiperOrigin-RevId: 865372002
Change-Id: I96d3121b6de792daaff53155ea2436ac3f6668db
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 863248779
Change-Id: I8bcbd5445814ba1e72c6d7b80ad6a054f5f1df57
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 861550939
Change-Id: I070eb4bcc2982466c8f368f7918005538baa5185
Use unsigned size_t instead of signed mjtSize for size multiplications to avoid Clang's overflow-checking intrinsic. This is semantically correct as size calculations are inherently unsigned.
PiperOrigin-RevId: 860172221
Change-Id: I3b6cb720db8771b8f266f1927e2980ac7514538b
This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 856166919
Change-Id: Id723d612ffc0bff020705cf19ef95fbf24676840
All known implementations were effectively the same as the default fallback. It was just adding unneeded complexity. Removing this now will help with upcoming improvements to resource providers.
PiperOrigin-RevId: 855163273
Change-Id: I529fc18d0d03a8dc676c909ec9e4b1da1454d414
Explicitly free allocated memory for local resources. (Upcoming
changes to `mju_closeResource` will not work for local resources.)
PiperOrigin-RevId: 854254013
Change-Id: I5cbb8264b590327767d5500f0c2a32ebe036bc4f
This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
This enables decoders to leverage their own file resolution systems. For example: USD can compose a stage (scene) from memory, via a file on disk, or via custom asset resolver.
Passing it through to the decoder reduces the need for custom resource providers that wrap these other resolution systems.
This will also enable a fun, but likely niche usecase where the decoder does procedural generation and does not have to be backed by a resource. See the tests for an example of this.
PiperOrigin-RevId: 828939899
Change-Id: Ic319a685332d91198a4ae926867c834bf7f7f724
- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec.
- The returned spec is then composed into the referencing spec.
- This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code.
Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders.
The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML.
In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and
not assume we are striclty dealing with MJCF.
PiperOrigin-RevId: 826149497
Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
Alessio Quaglino