 Yuval Tassa
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9a0dc20821
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Move Newton Hessian memory allocation from stack to arena.
PiperOrigin-RevId: 684054446
Change-Id: I4be0b216810ebbd9d7fa119c6a84eb08d3c16b83
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2024-10-09 08:54:54 -07:00 |
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Yuval Tassa
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b66da3d369
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Add mjData.L, sparse Cholesky factor of Newton solver Hessian.
PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
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2024-10-08 10:13:08 -07:00 |
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Kyle Bayes
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5bfc7da7de
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Inline small vector util functions in NativeCCD.
PiperOrigin-RevId: 683121207
Change-Id: Idf83e2d18d725665bf626c2c3269c81048076a1a
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2024-10-07 04:11:36 -07:00 |
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Kyle Bayes
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6be5decf6c
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Check for OOM errors once per EPA iteration.
PiperOrigin-RevId: 682447186
Change-Id: I55031da8cf2335d5771bb54b32b7e1f696aa80f2
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2024-10-04 14:15:29 -07:00 |
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Yuval Tassa
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3f3fe92860
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Remove unused argument in mju_sqrMatTDSparseInit
PiperOrigin-RevId: 682375566
Change-Id: If05f5d15a2f8925eee9dd0ebc5d485164d90d787
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2024-10-04 10:45:33 -07:00 |
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Kyle Bayes
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eb095b276c
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Switch to collision boolean only GJK for contacts instead of using S3D.
PiperOrigin-RevId: 682329224
Change-Id: I3db141b0482610a0a88854f47a46b0b7b694b361
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2024-10-04 08:25:14 -07:00 |
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Kyle Bayes
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dba32e827c
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Exit recursion gracefully when horizon reaches empty polytope in EPA.
PiperOrigin-RevId: 682050023
Change-Id: I8e04f00e6ab3e15e177d1902889441cdbf11cafd
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2024-10-03 15:18:05 -07:00 |
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Kyle Bayes
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9d91703871
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Replace heap with linear map in EPA.
PiperOrigin-RevId: 681911349
Change-Id: Iffe2d3ff57b9a4cfcc223ea5d5d29e2e6696e1cf
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2024-10-03 09:27:02 -07:00 |
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Kyle Bayes
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a02c37cf12
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Use faster cross product in projectOriginPlane for NativeCCD.
PiperOrigin-RevId: 681909044
Change-Id: I5d275a30bce4f24f2e4c205b9a9eb321a5a98b43
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2024-10-03 09:20:44 -07:00 |
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Kyle Bayes
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dc995ad341
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Remove unnecessary norm calculation in EPA.
PiperOrigin-RevId: 681906350
Change-Id: Ib6a13ca170a8071adde0771c6ba2b38fb4fd4da4
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2024-10-03 09:12:51 -07:00 |
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Yuval Tassa
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cf13413c0b
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Clean up dual solver functions.
PiperOrigin-RevId: 680587029
Change-Id: I20c78e96785af94634361d7823b1e5caba08800d
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2024-09-30 08:31:40 -07:00 |
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Yuval Tassa
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176345b4e1
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Remove meaningless const qualifier for scalar arguments in sparse function signatures.
PiperOrigin-RevId: 679568516
Change-Id: I910626cd9555966c3b0a9ffba4064d263b2c16e1
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2024-09-27 06:37:18 -07:00 |
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Taylor Howell
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6a6e10d779
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Add mju_cholFactorNNZ to compute the number of non-zeros per row for sparse Cholesky factorization.
PiperOrigin-RevId: 679553197
Change-Id: I6f92deec347dae97d2e219cfb5376f92e777da1a
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2024-09-27 05:39:08 -07:00 |
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Yuval Tassa
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84e0e2839d
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Improve error message when requested stack allocation is larger than 2^64 bytes.
PiperOrigin-RevId: 677851110
Change-Id: Iaef92f7f48f41f3a4bfaae9c517ff6664afed039
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2024-09-23 10:34:33 -07:00 |
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Kyle Bayes
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04f8403d8e
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Add unit tests for NativeCCD to produce better test coverage.
PiperOrigin-RevId: 677793306
Change-Id: I435865f00553c74d1d0c0fa86d9c41fb1e5497ff
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2024-09-23 07:55:39 -07:00 |
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Yuval Tassa
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91cedfd65c
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Avoid square roots in barycentric coordinate computation.
Also add some `inline` qualifiers.
PiperOrigin-RevId: 676873457
Change-Id: I76f57dc870a8714bd86749a7dee1f10fc5e4be1c
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2024-09-20 09:37:40 -07:00 |
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Yuval Tassa
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78832db53f
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Use designated initializers for mjCCDObj.
PiperOrigin-RevId: 676794693
Change-Id: Ie8a35415232e8a9f619713763c5d5a37a6f82935
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2024-09-20 04:32:10 -07:00 |
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Kyle Bayes
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7a92423cf2
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Add height fields to list of discrete objects in NativeCCD.
PiperOrigin-RevId: 676452215
Change-Id: I5d6a0d1e26ee852c774b44f550c1d0531b7a269b
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2024-09-19 09:48:41 -07:00 |
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Alessio Quaglino
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4998e7b392
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Move flex damping to the engine and remove membrane and solid plugins.
PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
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2024-09-19 09:01:30 -07:00 |
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Alessio Quaglino
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1a5536ce5b
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Make edges array const.
PiperOrigin-RevId: 676046588
Change-Id: Ica4bcdb49311bae8ccbf071717d7eb1c7cb55b87
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2024-09-18 10:40:38 -07:00 |
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Alessio Quaglino
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66a9cacc90
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Move elasticity force computation to the engine.
PiperOrigin-RevId: 676028775
Change-Id: I994e3dda8d6470815763c04df0c276e265aa1f54
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2024-09-18 09:55:00 -07:00 |
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Kyle Bayes
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e439b748a4
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Replace calls to floor/ceil with mju_floor/mju_ceil.
PiperOrigin-RevId: 675988982
Change-Id: I5f4d09d957ac7030cd4ce70e72f78dd4f07a6090
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2024-09-18 07:49:23 -07:00 |
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Kyle Bayes
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0657e3e871
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Fix bug in DeleteFace in NativeCCD.
PiperOrigin-RevId: 675948504
Change-Id: If9d967c8e75580a3a002fce9c10a2e1bfd0b5d46
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2024-09-18 05:20:11 -07:00 |
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Kyle Bayes
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317f480224
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Properly initialize hfield mjCCDObj for collisions.
PiperOrigin-RevId: 675580798
Change-Id: I119258c46562f73af4b7a5d100f69d0e52fbe71c
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2024-09-17 08:37:59 -07:00 |
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Kyle Bayes
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bd811a44e7
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Remove redundant copying in NativeCCD and refactor code for readability.
PiperOrigin-RevId: 675573079
Change-Id: If9f7bc21d9ee7806997f05a8985ebe6b1b3c8332
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2024-09-17 08:14:10 -07:00 |
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Yuval Tassa
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7f7c5ec943
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Fix mismatch in mju_wrap function signature definition.
PiperOrigin-RevId: 675204328
Change-Id: I820f10237b6d3bfd36067a9c3aef82cb1908ef6a
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2024-09-16 10:34:22 -07:00 |
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Kyle Bayes
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e94bd8348c
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Store polytope faces in heap in NativeCCD.
PiperOrigin-RevId: 675197250
Change-Id: Ibe9194d777d68729bffd085e36313fb33ee2756d
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2024-09-16 10:17:20 -07:00 |
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Yuval Tassa
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48fee9487e
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Clean up tendon wrapping code.
PiperOrigin-RevId: 675185000
Change-Id: I3d93d7ce65b617c4869eb002dfe9440efa9abf66
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2024-09-16 09:47:22 -07:00 |
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Yuval Tassa
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ce3681a26d
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Replace hard-coded mjNCATENARY with mjVisual.quality.numslices.
PiperOrigin-RevId: 675157138
Change-Id: I87ea16e4df8ed63b301ceaeac6e1b1d0513b77a0
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2024-09-16 08:25:19 -07:00 |
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Kyle Bayes
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4628a5e438
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Remove vertex struct from NativeCCD and allocate fixed memory for vertices on MuJoCo stack.
PiperOrigin-RevId: 675144892
Change-Id: I23d3316b9346ce7137bcfe84265717b60950898a
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2024-09-16 07:45:53 -07:00 |
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Alessio Quaglino
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31abd7900a
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Add edge ids to flex elements in mjModel.
PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
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2024-09-16 06:58:10 -07:00 |
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Taylor Howell
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60a1921b34
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Add site semantics to weld constraint. Fixes #1896
PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
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2024-09-16 05:46:01 -07:00 |
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Yuval Tassa
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fd17b2144a
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Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.
build / windows-2022 (push) Has been cancelled
build / macos-12 (push) Has been cancelled
build / ubuntu-20.04-clang-10 (push) Has been cancelled
build / ubuntu-20.04-clang-11 (push) Has been cancelled
build / ubuntu-20.04-clang-12 (push) Has been cancelled
build / ubuntu-22.04-clang-13 (push) Has been cancelled
build / ubuntu-22.04-clang-14 (push) Has been cancelled
build / ubuntu-22.04-gcc-10 (push) Has been cancelled
build / ubuntu-22.04-gcc-11 (push) Has been cancelled
build / ubuntu-22.04-gcc-12 (push) Has been cancelled
build / ubuntu-22.04-gcc-9 (push) Has been cancelled
Also, minor type-related fixes in `user_mesh.cc`.
PiperOrigin-RevId: 675082329
Change-Id: Icc5eb9f9eb4fbf09b08d7d4b9b2929f414e4a75c
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2024-09-16 03:40:17 -07:00 |
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Kyle Bayes
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9f8f6947fc
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Remove global linear search in favor of (almost constant time) local search when finding the convex hull of the polytope and new point in EPA for NativeCCD.
PiperOrigin-RevId: 673852140
Change-Id: Ib2ab64bad3cd2aa7d252b4016754f37ea30e1077
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2024-09-12 08:11:30 -07:00 |
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Kyle Bayes
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8d165d5cc7
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Fix early termination in GJK. It's possible for x_k to be the origin, so we should run the previous test to conclude that the objects are colliding.
PiperOrigin-RevId: 673834101
Change-Id: I596b30d2847670261f8067840b34dc13de401ecb
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2024-09-12 07:17:53 -07:00 |
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Kyle Bayes
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14f420069e
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Make projectOriginPlane in NativeCCD numerically robust.
PiperOrigin-RevId: 673761409
Change-Id: I64304c89f768414d60e2dcf2e71feb8a6f9b2635
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2024-09-12 03:01:15 -07:00 |
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Yuval Tassa
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e4d4153352
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Move sanitizer instrumentation to a separate header file. Fixes #2049.
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
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2024-09-10 09:05:35 -07:00 |
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Kyle Bayes
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44145742a7
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Exit GJK early if geom distance doesn't need to be recovered.
PiperOrigin-RevId: 672334991
Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
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2024-09-08 14:57:50 -07:00 |
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Kyle Bayes
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61721f8d3c
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Set tolerance in GJK to zero for colliding discrete geoms.
PiperOrigin-RevId: 672326091
Change-Id: Iddec335272461c9aee13c1960640a453ff59f841
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2024-09-08 13:49:58 -07:00 |
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Kyle Bayes
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4fc6fb179b
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Remove libccd compatibility layer from native ccd.
PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
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2024-09-06 06:56:01 -07:00 |
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Kyle Bayes
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b9822e4347
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Check hexahedron in polytope3 to make sure it contains the origin. Otherwise, EPA can return invalid results.
PiperOrigin-RevId: 671057312
Change-Id: Ieb21a77ea679ee5c18972d3a0375578d9a98405e
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2024-09-04 12:17:54 -07:00 |
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Kyle Bayes
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79a5bd0915
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Add better boundary tests in polytope3 for EPA.
PiperOrigin-RevId: 671038835
Change-Id: I259260a7b40e825678b52187bee4791266ae10c4
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2024-09-04 11:25:44 -07:00 |
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Kyle Bayes
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e9a85764ea
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Native CCD: Replace mju_malloc with C standard malloc, fix bug in computing v5 in polytope3, and add another warning in EPA.
PiperOrigin-RevId: 670939250
Change-Id: Ia0d8b7c78ed2ef7019f2a691c066b20e98dc1889
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2024-09-04 05:53:31 -07:00 |
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Yuval Tassa
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3437361bfb
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Add reduced sparse dof-dof matrix structures to mjData.
PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
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2024-09-04 04:24:02 -07:00 |
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Yuval Tassa
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42eb669e4e
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Precompute mappings between M <-> D sparse representations.
PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
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2024-09-04 02:57:13 -07:00 |
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Yuval Tassa
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2d3d5415b7
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Add mj_jacDot: Time derivative of kinematic Jacobian.
PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
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2024-09-03 04:49:47 -07:00 |
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Taylor Howell
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9cab5a42a4
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Remove unnecessary normal vector computation from mju_wrap cylinder case.
PiperOrigin-RevId: 669010760
Change-Id: Ie3869a9f112ca88b2a7ec4990c402ef3e92d36a8
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2024-08-29 11:46:38 -07:00 |
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Yuval Tassa
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a1036b86d3
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Allow connect constraints to be specified using sites.
PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
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2024-08-29 07:10:51 -07:00 |
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Yuval Tassa
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f3cfe7a84a
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Minor clean up in mj_jac.
PiperOrigin-RevId: 668395751
Change-Id: I5c3104ad59a5a709cf1639df663c864fa9d02399
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2024-08-28 04:45:40 -07:00 |
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Taylor Howell
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3e701b2125
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Fix tendon sphere wrapping when using external sidesite.
PiperOrigin-RevId: 668391942
Change-Id: I78b44e1f90bb26fa6f5544eeb884c8ea22e41d33
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2024-08-28 04:30:07 -07:00 |
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