5a70ad08ab
Add Flex component.
...
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
fdb041580c
Add Signed Distance Field to collision geometries.
...
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
3e034e38b2
Add constraint island discovery
...
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
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
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
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
a09246c095
Removed key for visualizing the mesh tree.
...
PiperOrigin-RevId: 533126358
Change-Id: I8b30691c78cbae4b8ad44ac16fb7567b2a131dcf
2023-05-18 07:52:34 -07:00
4c487e07ed
Add mesh BVH.
...
PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
2023-05-09 03:31:06 -07:00
b362cb4972
Expose a handle for the Python viewer.
...
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.
To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.
Fixes https://github.com/deepmind/mujoco/issues/796
PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
2023-04-20 05:59:19 -07:00
70959c1a2c
Added a collision midphase on geom pairs using rotated AABBs static trees.
...
PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
2023-03-17 02:37:29 -07:00
2607e67f8d
Add contact labels showing which geom pairs are in contact.
...
PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
2023-02-17 07:03:19 -08:00
45184bfa55
Fix Typo.
...
PiperOrigin-RevId: 499185052
Change-Id: I159271a229c90f38836d607511459edbe1d501bb
2023-01-03 04:49:48 -08:00
581f009c02
Cull face flag
2022-08-05 11:53:46 -04:00
b966a37855
Add optional azimuth and elevation to initial free camera.
...
- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.
PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
2022-08-05 01:04:02 -07:00
2d0995b47c
Add visualisation groups to skins.
...
PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
2022-07-01 04:57:34 -07:00
066367fcc8
Add visualisation flag for activations.
...
- Added illustrative model: `test/engine/testdata/activation.xml`
PiperOrigin-RevId: 453628961
Change-Id: I061ec3d17e57c6baffa0fe446a0be3564c44519d
2022-06-08 02:19:03 -07:00
e94a46c20f
Indent #ifdef blocks, improve comment for MSVC pragma.
...
PiperOrigin-RevId: 451614625
Change-Id: I5b46572521955b51da48f183d2195817df6ea28d
2022-05-28 04:49:58 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
...
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Alessio Quaglino