9d3ee5a948
Improve ASAN poisoning logic in mj_freeStack.
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When freeing a stack frame, only poison the newly-freed memory region
`[old_top, new_top)` instead of the entire region `[limit, top)`. The old
code redundantly re-poisoned already-poisoned memory on every
`mj_freeStack` call.
Benchmarking `engine_forward_test` under ASAN:
- Before: 99.3s
- After: 75.6s (~24% faster)
PiperOrigin-RevId: 885035750
Change-Id: Ib195661ca337d13c5ff6094bcc107c4c0a617b9b
2026-03-17 08:26:39 -07:00
c420a6e1ca
Fix resizing the window when running single threaded
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This was affecting code running in the browser using WASM
PiperOrigin-RevId: 884921901
Change-Id: I13e634452275927f58a63179cdf140780852be2f
2026-03-17 03:32:35 -07:00
4be4a539c4
Fix "Selected backend not supported in this build" error when running using WASM
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PiperOrigin-RevId: 884908229
Change-Id: I5515d1ffe8e7a4fd1f3c1eeee11a7f24196be780
2026-03-17 02:57:45 -07:00
9a0dd7d32d
Make planes semi-transparent from behind.
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PiperOrigin-RevId: 884896612
Change-Id: I00cc53e539fd1abccb43c7c6b89a7e063cb4848c
2026-03-17 02:27:34 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
aec1b45dce
Remove unnecessary const from grad parameter in strain Jacobian functions.
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The `grad` parameter in `volumetric_dSdx` and `invariant_dSdx` is not modified, but the `const` qualifier was inconsistent with how the array was being passed, requiring an unnecessary cast. Removing the `const` simplifies the function signatures and calls.
PiperOrigin-RevId: 884598322
Change-Id: Icac8071aa8e838057dd39c979c23a4f47e1dc22d
2026-03-16 13:04:00 -07:00
ac2730ab80
Change flex strain constraints for trilinear to a more stable formulation.
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This change improves trilinear flex elements by using reduced integration for volumetric quantities (strain trace and volume ratio) at the element center, while adding full integration for shear components at 8 Gauss points and removing the second strain invariant from the constraints, which is negligible for small strains. This reduced integration "B-bar" technique is standard in finite element analysis and prevents artificial stiffness that can occur when low-order elements are nearly incompressible. The constraint count per trilinear element changes from 24 to 26 compared to using invariants. For quadratic elements, the full 27 quadrature point are used resulting in 162 constraints.
PiperOrigin-RevId: 884570752
Change-Id: Ib74ece8f4712c2c81fbfd784524fcac52a2c80e5
2026-03-16 12:05:16 -07:00
1f2587fe3e
Make preprocessor checks for ADDRESS_SANITIZER compatible with GCC
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PiperOrigin-RevId: 884468086
Change-Id: I5742f023689fd8cc1747df1af5f0a9687a0e77ac
2026-03-16 09:03:52 -07:00
bb38a34869
Skip shared dofs for contact constraints
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PiperOrigin-RevId: 884455239
Change-Id: I7ee36a13c28be88e12380b4790f150ad62f268c1
2026-03-16 08:36:58 -07:00
eca5758bf9
Define ADDRESS_SANITIZER portably using standard compiler macros
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Use `__SANITIZE_ADDRESS__` (GCC) and `__has_feature(address_sanitizer)` (Clang)
to define ADDRESS_SANITIZER when the toolchain doesn't provide it natively.
Fixes #3160
PiperOrigin-RevId: 884447485
Change-Id: I48ef51bca8f5c5f15f62089e73cd8fa649723636
2026-03-16 08:18:11 -07:00
c651a0daeb
Merge friction and limit constraint counting into instantiation functions.
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PiperOrigin-RevId: 884379952
Change-Id: I23605f3e5ada0ed0fbdcf3e1903f54788700e2d3
2026-03-16 05:23:20 -07:00
a47a18dd28
Rollback of 1cda1e7a8c, fixes #3163
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Note this change re-opens issue #2472
PiperOrigin-RevId: 884378131
Change-Id: Ifefc345f1a296e5245cbb10047bb678ffea3598f
2026-03-16 05:17:43 -07:00
55f5ac0a1d
Remove mj_jacDifPairCount by incorporating the counting into mj_jacDifPair
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PiperOrigin-RevId: 884366070
Change-Id: I7490ca205a315bc661414e32c91ad1ec753a8fe7
2026-03-16 04:44:59 -07:00
28def7d25d
Internal changes.
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PiperOrigin-RevId: 883932254
Change-Id: Ic93097dde6425e7de00001b8d74ecc61adcde321
2026-03-15 03:38:34 -07:00
88ba8ffdbc
Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.
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PiperOrigin-RevId: 883225786
Change-Id: I5fecaa1d575b340a6510212db7b3e7db48f361cc
2026-03-13 10:21:53 -07:00
b18657acde
Remove unused flag.
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PiperOrigin-RevId: 883113888
Change-Id: I098669f8a873694903159649567bc2f68397f955
2026-03-13 05:37:47 -07:00
86aae0f5a5
Use user::ThreadPool for actuator lengthrange calculation in addition to mesh and texture compilation
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PiperOrigin-RevId: 883099169
Change-Id: Id6832c2ca0b8f45e2f428615ae54df4b8bb6f434
2026-03-13 04:54:57 -07:00
b62aed86f9
Recreate swap chain when the window size changes.
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PiperOrigin-RevId: 882521107
Change-Id: I0d29d2e323e7830256c24eead439b3f2eb55de40
2026-03-12 04:56:50 -07:00
16d618e7b9
Ensure we have a valid vfs when loading a spec.
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PiperOrigin-RevId: 882503274
Change-Id: Iddbd6f00c0344bb34d68bb72a640c0a8e81076a2
2026-03-12 04:06:05 -07:00
3601b063dc
Modify mjCMesh vert_ field to be vector<float> instead of vector<double>.
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PiperOrigin-RevId: 882162404
Change-Id: Ia97439420f284d594f5cb1a91cd0fb640ac8dff0
2026-03-11 13:15:32 -07:00
ad57721e2c
Add missing state.
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PiperOrigin-RevId: 882072832
Change-Id: I6ad75af67edc7672350c775c1a560e3db6d16969
2026-03-11 10:06:43 -07:00
ecc22667fa
Correct polygon winding order for all meshes not only when loaded from a file.
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PiperOrigin-RevId: 882053060
Change-Id: I94ee81838fa4074a1a890de4f282eca45ee9e820
2026-03-11 09:25:27 -07:00
db9ab94555
Refactor parts of the toolbar GUI into the GUI library.
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PiperOrigin-RevId: 882024591
Change-Id: I3ac73247973666f4d60e9d8d028d20d3ef709bcc
2026-03-11 08:23:12 -07:00
6d70e66810
Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release
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PiperOrigin-RevId: 881995135
Change-Id: I0c1a3b4a22c4c7cfada580b49a2cacde64cc84f3
2026-03-11 07:09:24 -07:00
ed2f34baa0
Fix logic for looking up root model within an archive.
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PiperOrigin-RevId: 881976329
Change-Id: I7771b84ff0aed83d55ee830deb2f92357355eb88
2026-03-11 06:18:14 -07:00
df02fe4bc0
BodyAddChild PopupContext needs to happen immediately upon triggering it.
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PiperOrigin-RevId: 881955422
Change-Id: I03675431d78c93550ff2ad6d562daf1a0e3d0d08
2026-03-11 05:20:39 -07:00
acf7f030a6
Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.
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PiperOrigin-RevId: 881946592
Change-Id: I524b9fa41018a581e58647d44de6ca3db4c6608b
2026-03-11 04:55:44 -07:00
64ee2d041f
Merge pull request #3105 from NandiniDhanrale:fix/vfs-move-3098
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PiperOrigin-RevId: 881946056
Change-Id: Ide041ff1dcdae00133251d928936920b47cf6c0d
2026-03-11 04:53:57 -07:00
6890e133c0
Add mjs_getCompiler C API and compiler property to Python spec elements.
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PiperOrigin-RevId: 881488083
Change-Id: I3aa1c0562bf2fd27057b8056048e3156fc1b067c
2026-03-10 09:57:36 -07:00
d6aac2041e
Make filament-opengl the default graphics mode for studio.
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PiperOrigin-RevId: 881362074
Change-Id: Iaa42ddf915b8b146775b2cf0263152b94c586c49
2026-03-10 04:59:03 -07:00
f1b305632c
Allow mesh with octrees in mjc_distance.
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PiperOrigin-RevId: 881355677
Change-Id: I8da9f7c92d6e76f16a5d82e7d16488211a8a65b7
2026-03-10 04:41:34 -07:00
955d6c0b02
Update MuJoCo version from 3.5.1 to 3.6.0 prior to next release.
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The next release will include breaking changes, so this bumps the major
version to reflect that.
PiperOrigin-RevId: 881351265
Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
2026-03-10 04:30:07 -07:00
713b5524bc
Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp.
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Also fixes a bug when attaching a flex with constraints.
PiperOrigin-RevId: 881349765
Change-Id: I8e6df8239488bfdc87d7e5b473568975e38c737e
2026-03-10 04:26:07 -07:00
3a99f6110e
Merge pull request #3084 from Ashutosh0x:fix/mingw-stat-localtime
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PiperOrigin-RevId: 880906196
Change-Id: I98027e80e9882620cb184766c14110478178ce53
2026-03-09 09:54:10 -07:00
1e1eb48261
No-op refactor of flex interpolation factorization and solve in mj_implicitSkip.
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PiperOrigin-RevId: 880867833
Change-Id: I2ab8ce5a027742af07ef0256bc4cdee62289282e
2026-03-09 08:20:24 -07:00
79d14035f9
Merge pull request #3158 from mar-yan24:mark-flexcompFix
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PiperOrigin-RevId: 880857702
Change-Id: Ic1ad4068312c9a02728ce7f49abb38dea3b97a46
2026-03-09 07:57:21 -07:00
3510537bcb
Merge pull request #3027 from Adityakk9031:#2982
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PiperOrigin-RevId: 880846172
Change-Id: I5b0ccda4b481c079a6bb640ab19756c3fd4b4b26
2026-03-09 07:26:58 -07:00
ed0d7ba29f
Move STL handling to a mjpDecoder.
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PiperOrigin-RevId: 880820344
Change-Id: Ib3a714dd9698335433e518ed6af17d7b8407a8fb
2026-03-09 06:15:04 -07:00
330c36c99b
Fix issue in GJK where the tolerance for x_norm was set too low.
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PiperOrigin-RevId: 880735671
Change-Id: I324e37e8677d3c7feeb4b8bcf065a2a0122326b6
2026-03-09 02:14:52 -07:00
95724d1ec2
Fix vfs load for mesh gmeshs type
2026-03-07 21:45:12 -05:00
8dc5cc4c70
Skip tangential components in tactile sensor if mesh has only normals.
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PiperOrigin-RevId: 879036130
Change-Id: Ic4184dd535700c5099768dabf5009ba96b218542
2026-03-05 06:35:41 -08:00
45c7376ab4
Set actuator limits correctly.
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PiperOrigin-RevId: 879012913
Change-Id: I3f03d09a98236ae9a4dc069564d14437ff5d0a2b
2026-03-05 05:35:14 -08:00
35c0a25cf4
No-op implementation for mjr_ functions.
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This can be useful, e.g. writing tests that don't depend on rendering.
PiperOrigin-RevId: 879012859
Change-Id: Ifb8d7d5bb06a2456c1b4543f0bf4945fe8155039
2026-03-05 05:34:19 -08:00
aef44210cb
Rename render to render/classic.
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This will allow us to add additional renderers to the `render` folder.
PiperOrigin-RevId: 878913300
Change-Id: I205ae41250cbbcded406ad303d4e801d4cff892e
2026-03-05 01:43:21 -08:00
5506fbf506
Rename member history_ to sim_history_.
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PiperOrigin-RevId: 878906079
Change-Id: I1327f0216bc5042e62c598f2b7f15f6a26c192dc
2026-03-05 01:23:39 -08:00
870f9fea24
Merge pull request #3150 from kevinzakka:fix/principal-point-frustum-sign
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PiperOrigin-RevId: 878610460
Change-Id: I82e1c30c9c263a9981c619d6a401b417f95c39a2
2026-03-04 12:22:39 -08:00
64597f45d3
Move function that parses the graphics mode from a string into graphics_mode.cc.
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PiperOrigin-RevId: 878482669
Change-Id: I8b713bc740c5711b9c7cc9ea63c21bad42cd2943
2026-03-04 07:30:23 -08:00
c70b05e037
Make Renderer more self-contained.
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The Renderer should configure the context and flip the image when
in classic mode and not rely on the Window to do so.
PiperOrigin-RevId: 878480986
Change-Id: I1af899107647469659662abd85527cdf66f507f4
2026-03-04 07:26:34 -08:00
20efb8ee8d
Add missing files.
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PiperOrigin-RevId: 878445886
Change-Id: Ied34a5517c3aefc0985bef100431081a4cbfb640
2026-03-04 05:51:36 -08:00
13d164063c
Remove separate targets for classic and filament renderer.
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The platform::Renderer now supports both implementations at
runtime.
PiperOrigin-RevId: 878427862
Change-Id: I2997c197c6eddbe177c77b435cc5848fd80f1839
2026-03-04 04:56:15 -08:00
Yuval Tassa