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9902b73502d7dff0ebf20f3881b8dbbb3d95147d
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51 Commits

Author SHA1 Message Date
Yuval Tassa 9902b73502 Rename mj_stackAlloc to mj_stackAllocByte. 
PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
 2023-09-18 10:53:35 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Yuval Tassa d5292976de Add internal utility for zeroing int vectors. 
Remove unnecessary branches in related functions.

PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
 2023-09-05 07:15:14 -07:00
Yuval Tassa 600c12533d Add mj_constraintUpdate_island. 
PiperOrigin-RevId: 562581620
Change-Id: If156a02873168127e2c5f2f377532fd45f7eec1c
 2023-09-04 10:33:34 -07:00
Yuval Tassa 5cef4708f2 Allow mj_mulJac(T)Vec_island to read and write from uncompressed vectors (length nv or nefc). 
PiperOrigin-RevId: 562547310
Change-Id: Id517c1842e711639f4113d23cc364945839a3759
 2023-09-04 06:51:51 -07:00
Saran Tunyasuvunakool 0e36f00857 Fix more mjData stack leakages. 
PiperOrigin-RevId: 562545230
Change-Id: I2facf25b00878669dc12d5865767a44229d2ca48
 2023-09-04 06:38:50 -07:00
Saran Tunyasuvunakool 5a21e202ed Eliminate mjContact copying during collision detection. 
This results in approximately 4-5% speedup in collision detection for particle.xml.

PiperOrigin-RevId: 562526634
Change-Id: Ia6487b1908618064d858bac484fe6861ed37a402
 2023-09-04 04:46:26 -07:00
Saran Tunyasuvunakool 89f47c33e4 Fix mjData stack frame leakages. 
PiperOrigin-RevId: 562091591
Change-Id: Ia7bb8a70ccba6bd40edc06ad8ebfac16e4286836
 2023-09-01 17:57:39 -07:00
Yuval Tassa 29aa5e4a41 Allow dot products with sparse vectors to specify that one vector uses uncompressed memory. 
PiperOrigin-RevId: 561951337
Change-Id: I1310d7c09d9a85ad9b43877155844a9d0ce6edab
 2023-09-01 07:40:16 -07:00
Yuval Tassa 02e819e76a Tighten const qualifiers of mjData in Jacobian multiplication functions. 
PiperOrigin-RevId: 561711229
Change-Id: I66dc1d2fbcfbf8e935b244fe496ada314d53b135
 2023-08-31 11:27:15 -07:00
Yuval Tassa f9c57f6213 Refactor a loop in mj_constraintUpdate. 
PiperOrigin-RevId: 561684763
Change-Id: Ifbca1793760ecb49f4b48a1a236bd7c1c6e73d0e
 2023-08-31 09:59:40 -07:00
Yuval Tassa eaa2572a8b Add private function mj_mulJacTVec_island for Jacobian transpose multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561672392
Change-Id: Ic72fd7de2a542603cc42e1c15ecb4edd27a9a986
 2023-08-31 09:12:34 -07:00
Yuval Tassa 85fd922b37 Add private function mj_mulJacVec_island for Jacobian multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561648540
Change-Id: I8080a620807e824b40b5d6ba484beb06d081d444
 2023-08-31 07:28:24 -07:00
Saran Tunyasuvunakool daa2ac7f8b Rename nstack to narena, change it and pstack to count bytes. 
PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
 2023-08-29 10:13:33 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Kyle Bayes ea5e00cad8 Move mju_combineSparseCount into engine_util_sparse. 
PiperOrigin-RevId: 561025741
Change-Id: I0bdc48554928fc4545a38a8cea3bdeb593bd7ecd
 2023-08-29 07:40:53 -07:00
Yuval Tassa df1b3515c7 Add mjData.nl: number of active limit constraints. 
PiperOrigin-RevId: 561012367
Change-Id: I9a01fec55502f8a90d7435972e477455ae29df15
 2023-08-29 06:32:18 -07:00
Yuval Tassa 4db3377467 Don't use mj_stackAlloc for int allocations. 
PiperOrigin-RevId: 559846094
Change-Id: I43eeec0b1970b2c6047be4e7c3548a4ce9aa6f5f
 2023-08-24 13:09:51 -07:00
Yuval Tassa 22fd0586b1 Move core_constraint arena allocations to local function. 
PiperOrigin-RevId: 558823297
Change-Id: I4a564f0d05c17634e70fbff16e8bdca2e7d7fb63
 2023-08-21 10:07:10 -07:00
Kyle Bayes ba12a1354b Optimize and refactor combineSparse and combineSparseCount. 
PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
 2023-08-18 06:14:09 -07:00
Yuval Tassa b1ecc943bb Fix multiple bugs related to mjvSceneState. 
PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
 2023-08-17 10:25:39 -07:00
Kyle Bayes 8ea690ed70 Remove unused parameters from mju_sqrMatTDSparseInit. 
PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
 2023-08-15 06:30:19 -07:00
Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
 2023-08-15 02:30:05 -07:00
Yuval Tassa e4dddea42a Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage. 
PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
 2023-08-14 11:17:47 -07:00
Yuval Tassa a063e2f0ef Add private functions and associated tests related to constraint island discovery. 
PiperOrigin-RevId: 553156672
Change-Id: Ifd73e3df443f7955359c5243d5f7756069335c05
 2023-08-02 08:43:11 -07:00
Kyle Bayes 82e85e24e5 Fix nv precounting bug for dense allocation in contact constraint. 
PiperOrigin-RevId: 545441998
Change-Id: I12951d9022d78838a67d8e1d9d80d41b73e7c29d
 2023-07-04 07:26:49 -07:00
Kyle Bayes ac1f41160d Add engine internal error macro mjERROR to prepend calling function to error function. 
PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
 2023-06-19 03:29:31 -07:00
Yuval Tassa d82f5ce5a4 Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions. 
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
 2023-06-07 09:40:20 -07:00
Yuval Tassa 455b1cd2e2 Add spaces around comparison operators in engine source files. 
PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
 2023-05-28 05:02:34 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Saran Tunyasuvunakool 1d79657512 Fix out-of-bound read in mju_combineSparseCount. 
PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
 2023-05-26 07:44:47 -07:00
Kyle Bayes 9924cce4b7 Add nnz per row precount method for mju_sqrMatTDSparse. 
PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
 2023-04-04 06:21:22 -07:00
Kyle Bayes b327058641 Avoid computing constraint Jacobian matrix supernodes when not using AVX. 
PiperOrigin-RevId: 521728016
Change-Id: I308e6283a6a1968a3d9946f04ba4367c50b1c63d
 2023-04-04 04:52:49 -07:00
Yuval Tassa d6f2dd143d Avoid variable name shadowing in all engine source files. 
PiperOrigin-RevId: 519179975
Change-Id: I2f9269cd88857b9e758c63978b20f9c9dd17207e
 2023-03-24 10:33:42 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Kyle Bayes 056e849273 Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices. 
PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
 2023-03-15 06:56:16 -07:00
Kyle Bayes 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
Yuval Tassa 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
Kyle Bayes 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
Kyle Bayes 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
Saran Tunyasuvunakool 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
Saran Tunyasuvunakool 794ef0b771 Reset arena pointer if memory cannot be allocated for all efc_ arrays. 
Startblock:
   diffbase is submitted
PiperOrigin-RevId: 479922015
Change-Id: If60d89628e033ff253509f109b2c4d28912a3903
 2022-10-09 08:06:39 -07:00
Saran Tunyasuvunakool 58fd72f53d Dynamically allocate contact and efc_ arrays on a new memory arena. 
- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.

- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.

- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).

- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.

PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
 2022-10-06 10:03:05 -07:00
Alessio Quaglino d26501c0f3 Add two new attributes to weld constraints: 
- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.

PiperOrigin-RevId: 470021901
Change-Id: I3faba0e5dcab2e29ee81096f5ff71ff66d99758c
 2022-08-25 10:22:15 -07:00
Alessio Quaglino abc0a39b7a Add two new attributes to weld constraints: 
- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.

PiperOrigin-RevId: 469228149
Change-Id: I836b0791f10fb624607a12ef3c687da991c21789
 2022-08-22 10:46:46 -07:00
Alessio Quaglino 8ca5887c20 Add two new attributes to weld constraints: 
- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.

PiperOrigin-RevId: 469190483
Change-Id: I20f6da85b09cd2c4c0b5d29eb8003eabb524e55e
 2022-08-22 08:19:22 -07:00
Yuval Tassa c8ff7b3d34 Remove distance constraints. 
- `distance` constraints were not very useful and increased the contact buffer within the constraint solver, violating a core design principle. Therefore they have been removed.
- The enum value `mjEQ_DISTANCE` is retained, but errors will be thrown in the parser and engine if these constraints are selected.

PiperOrigin-RevId: 467050101
Change-Id: Ie72a07e4fe338eea5107004a9fc0f5e47eb0c3b7
 2022-08-11 14:31:11 -07:00
Yuval Tassa d6e46bda50 Add missing braces. 
PiperOrigin-RevId: 466576293
Change-Id: Ifea04abeed531befac6ab335bb66b1f1ce0f10a6
 2022-08-09 22:53:13 -07:00
Saran Tunyasuvunakool b849023069 Miscellaneous linting in src/engine. 
PiperOrigin-RevId: 462415459
Change-Id: I6c79c592613c6b0a665af06faf945586bb6ba32d
 2022-07-21 10:16:49 -07:00
Yuval Tassa e6480c76a9 Remove unused imports. 
PiperOrigin-RevId: 461829404
Change-Id: I9ae44085af211013ed2b677b7d3a545ccec34605
 2022-07-19 02:11:56 -07:00