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9efe41c0c167f4299899ca443030aedf1823129a
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122 Commits

Author SHA1 Message Date
Taylor Howell 9efe41c0c1 Remove dense code path for tendon Jacobian 
PiperOrigin-RevId: 872444531
Change-Id: I6180101abc49469a72aee8bec5726e1e94f142ec
 2026-02-19 09:53:49 -08:00
Yuval Tassa 5fb47df197 Add mjData flags marking lazily evaluated pipeline stages 
PiperOrigin-RevId: 861763477
Change-Id: Ib613c56949264573a16306800658f868d2aa7665
 2026-01-27 09:45:06 -08:00
Alessio Quaglino ba32568138 Move flex vertex-edge adjacency to mjModel. 
PiperOrigin-RevId: 861717037
Change-Id: I2ad8090b0318cb04b43d13966cb42260c82ef930
 2026-01-27 07:41:47 -08:00
Alessio Quaglino e933081ff1 Optimize flexvert Jacobian computation. 
The dense Jacobian arrays `J0_dense` and `J1_dense` are now zeroed only once before the vertex loop. Inside the loop, only the entries that were actually used are zeroed out after being added to the sparse Jacobian, allowing for efficient reuse of the dense arrays across all vertices.

PiperOrigin-RevId: 860799056
Change-Id: Ia61daae5eeb2f4dbc0c5d8c0064622a881e92b7a
 2026-01-25 05:22:44 -08:00
Alessio Quaglino e9c61694e1 Align flex_vert0 to the XY plane during model initialization if dim=2. 
PiperOrigin-RevId: 860435368
Change-Id: Ida616e1e69c224f7c0dbad2a10dd59e64cbadf49
 2026-01-24 00:50:01 -08:00
Alessio Quaglino 769109630f Move flexvert_J and flexedge_J sparsity pattern to mjModel. 
PiperOrigin-RevId: 860392796
Change-Id: Ie1264f2df5bf04b5794a3c7d8ad1a92524a6a567
 2026-01-23 22:00:14 -08:00
Alessio Quaglino 7da271c687 Add vertex equality option. 
PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
 2026-01-23 16:30:05 -08:00
Alessio Quaglino 54dd623650 Add vertex-based flex constraints (dim=2). 
PiperOrigin-RevId: 859552050
Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
 2026-01-22 04:54:53 -08:00
Alessio Quaglino e56b31e98f Reduce flexedge_J size from nflexedge x nv to the effective sparse size. 
PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
 2026-01-14 11:18:41 -08:00
Alessio Quaglino a49576e469 Move flexedge sparse Jacobian indices to mjModel. 
PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
 2026-01-13 07:33:17 -08:00
Yuval Tassa 499291e5c2 Fix aliasing issues in engine_core_smooth.c 
PiperOrigin-RevId: 843699660
Change-Id: I21d4ed09284624ce80fcd5b1d572b9084e95e1f1
 2025-12-12 08:25:06 -08:00
Yuval Tassa 600f0f20bc Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions. 
PiperOrigin-RevId: 843635464
Change-Id: I3b0553eea98424ccc7def77e3769e2994f3e9014
 2025-12-12 04:49:29 -08:00
Kyle Bayes ae24034f24 Refactor hfield-convex collision code. This should be a no-op. 
PiperOrigin-RevId: 837045492
Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
 2025-11-26 03:26:56 -08:00
Yuval Tassa 769f37b653 Implement sleeping in engine 
PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
 2025-11-07 03:33:07 -08:00
Alessio Quaglino 01d1ac34e0 Add quadratic interpolation to flex. 
PiperOrigin-RevId: 822055781
Change-Id: Ibc252ac560de666b0b28f868e46b88d3ed92f67d
 2025-10-21 04:36:36 -07:00
Alessio Quaglino ffdfe542cf Add mju_interpolate3D. 
This is a more general API in preparation of a higher interpolation order

PiperOrigin-RevId: 820174741
Change-Id: I81bd52ab44e0485d72579e21d1c8a48a1b35ec3f
 2025-10-16 04:39:24 -07:00
Yuval Tassa a7fe06c717 Further simplification to mj_crb 
PiperOrigin-RevId: 818241421
Change-Id: I67dd2a60f415eb17b41f5ee553939118ab124123
 2025-10-12 01:43:30 -07:00
Yuval Tassa ab9575d8a6 Refactor and speed up mj_crb and add a benchmark. 
This is a no-op "prefactor" of `mj_crb` to reduce the number of lines changed in the upcoming sleeping CL. The main change here is that `mj_crb` now avoids accessing the model and data pointer repeatedly, but instead has the input and output pointers explicitly declared as local variables. A benchmark test found a healthy **14% perf bump** due to two changes:
- Adding `restrict` to `mju_mulInertVec`
- The function-local pointers.

Adding `restrict` to the local pointers had no effect. Note that `mj_crb` is not a particularly expensive function so these speed bumps are not significant per se, but rather indicative of possible future gains with these techniques.

```
Benchmark                Time(ns)        CPU(ns)     Iterations
---------------------------------------------------------------

ORGINAL BASELINE
BM_CRB_BASELINE_mean         4325           4348         993200  230.052k items/s

BASELINE + RESTRICT
BM_CRB_BASELINE_mean         4057           4090        1186150  244.573k items/s

LOCAL POINTERS + RESTRICT
BM_CRB_mean                  3772           3800        1001750  263.209k items/s
```

PiperOrigin-RevId: 815798225
Change-Id: Iffdf57b544e8e10562807c617f73ca4ccd1c614f
 2025-10-06 10:54:01 -07:00
Yuval Tassa edbdb5195c Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2 
PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
 2025-10-01 07:58:17 -07:00
Yuval Tassa d55da23235 Simplify mj_comPos, avoid stack allocation 
PiperOrigin-RevId: 809762290
Change-Id: I87824279ff5f7049b1f06b900d4d3e33f5fafe0f
 2025-09-21 14:06:22 -07:00
Yuval Tassa 52da7586dc Clean up includes in src/engine 
PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
 2025-09-16 09:36:44 -07:00
Yuval Tassa b9900db00e Extract memory allocation functions and core utilities 
PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
 2025-09-01 03:38:25 -07:00
Yuval Tassa 977f94e9df Delete sparsity structures from mjData, use the ones in mjModel 
PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
 2025-08-14 09:13:02 -07:00
Yuval Tassa 3c6e4f1ece Clean up engine_core_smooth.c 
PiperOrigin-RevId: 792564094
Change-Id: I47b3f1953db5402acc49dac373a039c9c0bf1ad9
 2025-08-08 04:05:13 -07:00
Yuval Tassa 2707eadc00 Refactor mj_crb and mj_tendonArmature to use CSR M. 
PiperOrigin-RevId: 774077388
Change-Id: Id57118a5d66c074766f5c69fd3b889ebc625cbf7
 2025-06-21 04:49:06 -07:00
Yuval Tassa 84d658a5ad Remove redundant variable in mj_factorI 
PiperOrigin-RevId: 760604094
Change-Id: I664b4cc9d717bc12a4711feb3fa585777fb7a1aa
 2025-05-19 06:42:11 -07:00
Yuval Tassa d8bebdc675 Remove unnecessary diagnum argument in mj_solveLD and mj_factorI 
PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
 2025-05-14 07:13:27 -07:00
Yuval Tassa dd28b887d4 Rename C sparse structure to M in mjdata, improve docstrings. 
PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
 2025-05-14 05:26:19 -07:00
Yuval Tassa 4186589738 Use mjData.M where appropriate 
PiperOrigin-RevId: 758374391
Change-Id: I9de7af7be8e41b5c300d0a04ea99082b4cefdec6
 2025-05-13 14:22:41 -07:00
Yuval Tassa 627fffdef9 Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure. 
PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
 2025-05-13 10:20:32 -07:00
Yuval Tassa 755564a348 Remove unused code related to legacy island implementation. 
Also fix a docstring.

PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
 2025-05-12 15:39:16 -07:00
Yuval Tassa 85dd78d6f3 Add private function mj_makeM. 
PiperOrigin-RevId: 757689756
Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
 2025-05-12 03:52:38 -07:00
Yuval Tassa ecb769fc3a Refactor islands to be memory contiguous. 
PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
 2025-05-07 05:06:27 -07:00
Yuval Tassa c2ac0d724e Add mju_gather and mju_scatter, private engine functions. 
PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
 2025-04-22 10:33:33 -07:00
Yuval Tassa d05251af2a Add tendon armature 
PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
 2025-04-04 07:44:04 -07:00
Yuval Tassa 8bcfe07e14 Fix potential division by zero in mj_tendonDot. 
PiperOrigin-RevId: 742246626
Change-Id: I1f897bd0ca28e0efdffc5a93fadca35221eaeb38
 2025-03-31 06:41:26 -07:00
Yuval Tassa c931565fdc Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon. 
Notes:
- Currently always uses dense math, even for sparse models. This should be easy to change in the future.
- Does not support geom wrapping. This is possible but harder, requires derivatives of mju_wrap.
PiperOrigin-RevId: 740378741
Change-Id: Id39ef2c4bfbb7ee11ec33c97d7d83140441cdab2
 2025-03-25 09:36:30 -07:00
Yuval Tassa de48f4178f Add missing term in mj_jacDot 
PiperOrigin-RevId: 735686836
Change-Id: I813ca46f71e368ddc97a6d2e540102137b31dbcf
 2025-03-11 03:01:29 -07:00
Yuval Tassa 0f563ecf31 Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism. 
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
 2025-03-04 17:34:35 -08:00
Yuval Tassa fe9fcae5dc Clean up mj_tendon. 
PiperOrigin-RevId: 729042293
Change-Id: Id0d8483b71b9dbb99e19a67323034f3762e26346
 2025-02-20 03:44:39 -08:00
Yuval Tassa b516edae1b Rename inertia factorization routines: 
```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```

PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
 2025-02-18 09:42:05 -08:00
Yuval Tassa fb07e0d1f7 Convert qLD to CSR format. 
PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
 2025-02-18 07:14:45 -08:00
Yuval Tassa 5ee0654830 Roll back recent change to mjData.qLD until some issues are resolved. 
PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
 2025-02-07 10:21:42 -08:00
Yuval Tassa c27d3758c2 Convert qLD to CSR format. 
PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
 2025-02-06 08:59:35 -08:00
Alessio Quaglino 7cdf180641 Introduce trilinear flex parametrization. 
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.

On an 8x8x8 cube, the performance using DOFs at all vertices is

```
 Simulation time      : 18.74 s
 Steps per second     : 533
 Realtime factor      : 0.53 x
 Time per step        : 1874.4 µs

 Contacts per step    : 114.88
 Constraints per step : 3322.51
 Degrees of freedom   : 1536
```

With the new implementation, it is the following:

```
 Simulation time      : 1.82 s
 Steps per second     : 5507
 Realtime factor      : 5.51 x
 Time per step        : 181.6 µs

 Contacts per step    : 38.84
 Constraints per step : 155.36
 Degrees of freedom   : 24
```

PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
 2025-01-29 09:38:22 -08:00
Yuval Tassa 9605990648 Replace custom sort of sparse fixed tendons with mju_combineSparse. 
PiperOrigin-RevId: 720219887
Change-Id: I0491b3cb8987c119c3864fc0b5c38ca303d8f7f0
 2025-01-27 10:24:58 -08:00
Yuval Tassa 2624d524ba Switch mj_solveM_island to use CSR representation 
PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
 2025-01-20 18:36:04 -08:00
Yuval Tassa a5ab7a9515 Switch mj_solveM2 to use CSR representation. 
PiperOrigin-RevId: 717639495
Change-Id: I59eee0f23606481480ec5acb8a3bba2c14b2ea2f
 2025-01-20 15:16:26 -08:00
Yuval Tassa 5c4c79cd6a Refactor LD back-substitution (CSR version). 
PiperOrigin-RevId: 717403904
Change-Id: Idcd5e71f03a960203c22cb737d399fac5a0ba59c
 2025-01-19 22:47:25 -08:00
Yuval Tassa 8a5f092081 Allow CSR back-substitution to handle multiple vectors. 
PiperOrigin-RevId: 713229673
Change-Id: I7a5b43fe966cf9e482bd41e2eea6c30dd3ffa1d4
 2025-01-08 03:32:16 -08:00