fd17b2144a
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
2024-09-16 03:40:17 -07:00
4d4b0bb2c3
Don't normalize mjData->qpos quaternions in-place.
...
PiperOrigin-RevId: 647927542
Change-Id: I13b0be55498d1da3af2cdc414cfed4c3908a6fe1
2024-06-29 03:07:10 -07:00
19388eee0c
Fix type errors in engine and plugins.
...
- Preparation for a float32 build of MuJoCo.
- Fix use of `float`-typed `fabs` in `mju_eig3`.
PiperOrigin-RevId: 643804942
Change-Id: I89f64e8fd39f4e70e78d7607816283e217912383
2024-06-16 12:35:05 -07:00
6067048537
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
...
These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
2024-06-16 10:02:36 -07:00
5a365603f8
Add mju_euler2Quat.
...
PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
2024-04-10 06:02:50 -07:00
60cd7248c2
Add zero vector shortcut to mju_rotVecQuat.
...
PiperOrigin-RevId: 597504456
Change-Id: I23580fc08571db97e984a87cba3f4d14e67d6b3a
2024-01-11 03:19:30 -08:00
77b3533d90
Improve mju_cross implementation.
...
- Allow in-place cross product a = a x b using `mju_cross(a, a, b)`.
- Easier for compiler to optimize since tmp cannot alias a or b (verified with godbolt).
PiperOrigin-RevId: 547265908
Change-Id: If965867e08c1bc980e71729e38f6855e32de18b2
2023-07-11 12:35:02 -07:00
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
455b1cd2e2
Add spaces around comparison operators in engine source files.
...
PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
2023-05-28 05:02:34 -07:00
a01318712c
Fix a couple of comment typos.
...
PiperOrigin-RevId: 518347854
Change-Id: I552554fff199ce244b7b364cf0b0486058de0e22
2023-03-21 12:27:53 -07:00
8a8305d3ca
Avoid unnecessary copies after of mju_mulQuat.
...
Since fdbbc8bbe0
2022-09-29 09:33:50 -07:00
fdbbc8bbe0
Allow in-place computation for mju_mulQuat and mju_mulQuatAxis
...
PiperOrigin-RevId: 471222168
Change-Id: If43210636cf20000b343ad1efd02836465380ebe
2022-08-31 04:09:08 -07:00
ec7133b0d3
More efficient implementation of mju_rotVecQuat.
...
```
Before:
BM_RotVecQuat_mean 10.1 10.1 833409628 99.055M items/s
After:
BM_RotVecQuat_mean 6.41 6.41 1200000000 156.095M items/s
```
PiperOrigin-RevId: 454601673
Change-Id: Ibb3ce8a6c838a88bdcebd7aaa979b649639edf0b
2022-06-13 07:16:55 -07:00
53d3220fcc
Fix quaternion typos.
...
PiperOrigin-RevId: 453203844
Change-Id: I7d788c21bb00b7746f941fb2cf755f0b046e35f2
2022-06-06 08:24:21 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
...
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Yuval Tassa