972770ba55
Improve order of sections in APIfunctions.rst
...
PiperOrigin-RevId: 516518339
Change-Id: I84e973e6f9034a5d24f20791c13b3880fedde46c
2023-03-14 07:26:29 -07:00
b6080108c3
Ignore -Wdeprecated-declarations for NSOpenGLContext.
...
PiperOrigin-RevId: 516500366
Change-Id: I39d974626e51627c767c52a7f90135963fdeb1c2
2023-03-14 05:53:35 -07:00
2f0fb1e4ef
Workaround for broken VSync in Simulate on macOS.
...
OpenGL VSync became broken again in macOS 13 (https://github.com/glfw/glfw/issues/2249 ). This workaround is similar to https://github.com/glfw/glfw/pull/2277 but is implemented entirely outside of GLFW.
PiperOrigin-RevId: 516320722
Change-Id: Ib8a651a942f592c74e00ad3c7b22f2dfd156be5f
2023-03-13 14:19:17 -07:00
3abf2ae2cd
Increase maximum number of geoms in simulate from 5000 to 20,000.
...
PiperOrigin-RevId: 516246198
Change-Id: I8a07a075b370ad0c212db8ed68b3d61389eba197
2023-03-13 10:16:12 -07:00
c16d4d0d25
Move mjtByte definition from mjmodel.h to mjtnum.h.
...
PiperOrigin-RevId: 516193927
Change-Id: Idbba21119ef2f7da3ab6f6f21611a757658aad23
2023-03-13 06:38:46 -07:00
b4d29abfc1
Add table of contents to API Functions documentation page.
...
PiperOrigin-RevId: 516191825
Change-Id: I792aa72e748443a3f422d0b6cf65a2803f3ec012
2023-03-13 06:26:52 -07:00
ae2c530d8b
Tighter axis-aligned bounding box for meshes.
...
PiperOrigin-RevId: 516166936
Change-Id: Ie99217f8894bdd4bb093900fc0df9d4a1e5030d3
2023-03-13 03:54:33 -07:00
2f03da740a
Fix typos.
...
PiperOrigin-RevId: 516135725
Change-Id: I094f6af5d3ef8dd6a93430c09c61f29c23f55e02
2023-03-13 01:01:45 -07:00
c57a588ab5
Re-organise API data structure documentation.
...
PiperOrigin-RevId: 515515875
Change-Id: I743a0409eb9b867249a90d5c1cb4d77bacade4dc
2023-03-09 20:24:32 -08:00
d3d789cf7d
Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated.
...
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
2023-03-09 13:51:27 -08:00
2e6a37e8c5
Changelog: Move the image under the "Simulate" heading.
...
PiperOrigin-RevId: 514666433
Change-Id: Ief3f10260fb071412fdd0d4b481fb10ee99b71ff
2023-03-07 02:09:16 -08:00
ac78f8aee9
Update CMake dependencies to latest versions.
...
Upgrade abseil and pybind11.
PiperOrigin-RevId: 514397331
Change-Id: I4a35dc9f3b9dcc79bdd13016a5326f72cd3fc67f
2023-03-06 07:12:22 -08:00
93b4d4981d
Merge pull request #758 from PeterMitrano:main
...
PiperOrigin-RevId: 514385239
Change-Id: Ie85f355f1bdcd0b81ff228b71685e37552f679ea
2023-03-06 06:38:00 -08:00
bddc4b88b2
Fix comment typos.
...
PiperOrigin-RevId: 514360878
Change-Id: If119beec09d7eae568d8f6d8e3fa150ec7de88b6
2023-03-06 06:37:42 -08:00
ed52b4084e
Add missing affine gaintype to XMLreference.
...
PiperOrigin-RevId: 514359011
Change-Id: I96668ed20dbb20b4d2b60a08eb71286bdfe5fe37
2023-03-06 06:37:26 -08:00
367c254f54
Remove .cc suffix from sample code titles.
...
PiperOrigin-RevId: 514342526
Change-Id: I4484b70e1c4da7dc98e362cfef16195224d0c65e
2023-03-06 06:37:10 -08:00
49dd6b4193
Clean up mj_id2name and mj_name2id.
...
PiperOrigin-RevId: 514340647
Change-Id: Idf895b2d7a4a8833725afbe5c71c777081b42d9e
2023-03-06 06:36:48 -08:00
fa4c55a21a
found another potential typo
2023-03-06 02:09:35 +00:00
277be19c5c
fix potential typo
2023-03-06 02:06:56 +00:00
222ee00a66
Break out passive force functions into a new file engine_passive.c
...
PiperOrigin-RevId: 513834952
Change-Id: I5347440f24d767a7dc81a34e48e1e17d8c10173f
2023-03-03 08:32:16 -08:00
fd1070cf03
Delete remaining code related to now-removed distance equality constraint.
...
PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966
2023-03-01 17:57:54 -08:00
50bebcb4ee
Precount number of non-zeros for constraint Jacobian sparse matrix.
...
PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
2023-02-28 08:57:56 -08:00
90b5dd14ca
Fix issue where mj_addConstraint was writing values into efc_J_rowadr and efc_J_rownnz that are not needed.
...
PiperOrigin-RevId: 512919818
Change-Id: I8ee7443a2bf2265934899673f8943a83cdd4ef69
2023-02-28 06:47:56 -08:00
f2413a5d55
Remove overwriting of particle geoms as spheres that was restored by mistake in commit d0b1a97.
...
PiperOrigin-RevId: 512597403
Change-Id: Ifa29ccc405d1c98ffadf65b2cefa164067f95220
2023-02-27 05:09:39 -08:00
7e5419f806
Remove trailing spaces in printArray, printArrayInt, printVector, and printSparse.
...
PiperOrigin-RevId: 512596881
Change-Id: Icfa955628b9a2955df73093b6c8df7751260adfb
2023-02-27 05:06:33 -08:00
2729f9fcf8
Merge pull request #740 from hyarion:fix/unity-fluidshape
...
PiperOrigin-RevId: 511791324
Change-Id: I28e98e55efe43ba053b803838082646289e4f09e
2023-02-23 08:19:20 -08:00
cadab1f438
Make the word extent more clearly visible in documentation of zfar and znear.
...
Fixes #746 .
PiperOrigin-RevId: 511719937
Change-Id: If697e2dd4992dfa3f345ae4caa25bd67d015a91b
2023-02-23 01:33:27 -08:00
42c3faa462
Add support for fluid coefficients to Unity plugin
2023-02-20 18:46:16 +01:00
7e7cb177a4
Cosmetic changes.
...
PiperOrigin-RevId: 511008317
Change-Id: Id8d7cd4f4e22e0658857d16b47d51053f1477bb9
2023-02-20 09:23:32 -08:00
7542c90cd2
Improved behaviour of mouse-spring interactions.
...
Also:
- Renamed recently introduced `mjvPerturb` member `reflocalpos` -> `refselpos` and corrected docstring.
- Added `mjvPerturb.localmass`: body spatial inertia at selection point.
- Removed `const` qualifier to `mjData` argument of `mjv_initPerturb()`, to facilitate spatial inertia computation.
- Improved `mj_Object{Velocity, Acceleration}` docstrings, clarifying that rotational velocities precede linear velocities.
- Removed redundant const qualifiers from non pointer arguments to `mju_dot` and `mju_writeNumBytes`.
PiperOrigin-RevId: 511002168
Change-Id: I27400f497947f330072d4abb7c9bf7e71e6c5d49
2023-02-20 08:40:33 -08:00
9756ed0d80
Read normals and textures from OBJ, do not duplicate vertices.
...
PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
2023-02-17 10:15:25 -08:00
35967a30d9
Fix order of API function sections, add missing Plugins section.
...
PiperOrigin-RevId: 510442237
Change-Id: I1fd4e309f33f45247eac84233745bfa35b5d796f
2023-02-17 08:50:25 -08:00
090c25988a
Split API reference pages into Data Structures and Functions pages.
...
PiperOrigin-RevId: 510422950
Change-Id: I6b2eebab0c0020b80fec83094aa65c6a412e277e
2023-02-17 07:06:20 -08:00
2607e67f8d
Add contact labels showing which geom pairs are in contact.
...
PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
2023-02-17 07:03:19 -08:00
09bc934f25
Add support for fluid shapes to Unity plugin
2023-02-17 13:15:29 +01:00
a6730aa740
Keep only immediate parent in XMLreference TOC header names.
...
PiperOrigin-RevId: 510095682
Change-Id: I72973c955cce14a90f5af0037b2abc5f2ee3644c
2023-02-16 03:29:02 -08:00
9f79acd7da
Remove redundant space from XMLreference TOC titles
...
PiperOrigin-RevId: 510076364
Change-Id: I59e0e7fd2f6eae9b89f5bb00f2192358da8abf7a
2023-02-16 01:47:38 -08:00
1552b988ff
Fix typo.
...
PiperOrigin-RevId: 509919399
Change-Id: Idd1845a81b073e99d98148ffe73699af3cedcc6c
2023-02-15 13:41:50 -08:00
d26d7babe9
Merge pull request #734 from hyarion:fix/unity-load-balloons.xml
...
PiperOrigin-RevId: 509832074
Change-Id: Ia8505b4ea83d8903052e72a12b914a8fd94a13df
2023-02-15 07:51:34 -08:00
6a85b5db45
Improve cartesian actuator example model.
...
Significantly reduced joint-level damping, introduced damping in the actuators themselves. This reduces dynamics artifacts by matching the space in which damping and actuation forces are applied.
PiperOrigin-RevId: 509574523
Change-Id: Id99b69aea4562509c48ed1a24fb9ea3e008c0b69
2023-02-14 10:41:21 -08:00
ace5b74f83
Rename inteval attribute in mjLROpt to interval.
...
PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
2023-02-13 10:54:25 -08:00
db28c31f05
Rename <required> tag to <plugin>.
...
PiperOrigin-RevId: 509237786
Change-Id: I35e812830b479004ac5025cbd9477888f51fb43e
2023-02-13 08:41:52 -08:00
239e00e3b1
Fix typo in the error message for distance equality constraints.
...
PiperOrigin-RevId: 509227257
Change-Id: Ibf501f267e513c504e527f3fe7a26d4f29e78273
2023-02-13 07:58:03 -08:00
87bc8d0ed2
Fix spelling in MjcfImporter
2023-02-13 12:02:55 +01:00
8599d80b4d
Apply tendon defaults on fixed and spatial tendons
2023-02-13 12:02:29 +01:00
7ed632cb9e
Add support for arbitrary default node lookup name
...
Makes it possible to apply modifiers to elements even if the name doesn't match.
This is necessary to support default values for tendons.
2023-02-13 12:02:10 +01:00
5228ad1b2e
Change default wind to the value from the doc
2023-02-13 10:21:30 +01:00
e7a9447c03
Add gravcomp to body in unity plugin
...
The unity plugin is missing gravcomp which makes it impossible for buoyancy
2023-02-13 10:21:09 +01:00
9971993cdb
Add support for implicit integrator type
...
The `implicit` option was added in the IntegratorType enum.
Using `@` prefix to avoid collision with reserved keyword.
2023-02-13 10:20:42 +01:00
5e989d18c3
Enable compiler errors for implicit switch case fallthroughs.
...
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.
PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
2023-02-10 03:49:00 -08:00
Yuval Tassa