The classic renderer supports only directional and spot lights, but initLights() set GL light colors for every scene light before dispatching on type, and the render passes enabled GL light slots without filtering. Since no position was ever set for unsupported types (mjLIGHT_POINT, mjLIGHT_IMAGE), OpenGL's default eye-space position turned them into phantom headlights with the model light's diffuse color, washing out the scene. A cast-shadow image light additionally triggered a full shadow pass with an unset light projection.
Filter all light setup and enable sites on a shared type predicate, so unsupported light types contribute nothing. The no-lights ambient fallback now applies when no supported lights are present.
PiperOrigin-RevId: 956696548
Change-Id: Ic29763df7f9330f21d94f14501ae2559fd460f2b
Slider rows in the joints and controls tabs could only be reset through
a hidden right-click context menu. Replace it with a visible reset
button at the right edge of each row, disabled while the value is at
its reset target so the button column doubles as a modified indicator.
Rows split the remaining width equally between slider and label, and
labels clip at the button column. Adds an ImGui_ResetButton widget.
PiperOrigin-RevId: 956627705
Change-Id: I9c178f6cd1cc806c7ffd6f531acf7f2d470d9346
OpenFileDialog and SaveFileDialog hardcoded the user's Documents directory
and placed the full seed path in the name field. Studio seeds dialogs with
the current model's path, so File > Open now starts in the model's
directory with the filename pre-filled, falling back to Documents when no
path is available. Also avoids passing a potentially non-NUL-terminated
string_view to stringWithUTF8String.
PiperOrigin-RevId: 955869713
Change-Id: I7563f2cb2e39089883d5e37a3d259055c26e146c
Convert the four remaining mju_mulMat{,T}{Vec,Mat}3 call sites in this
file to their inlined mji_ equivalents, so the file is consistent after
the review change to the stretch paths. Aliasing is unaffected: the
inlined variants mark the result restrict, and every call already
required a distinct result (the public versions overwrite res while
reading vec).
Per review on #3437: add the missing blank line above the new comment
block, and use the internal inlined mji_mulMat{,T}{Vec,Mat}3 helpers
rather than the public mju_ ones, matching fe9dc584. Six call sites in
the two stretch paths; pre-existing mju_ calls elsewhere in the file are
left alone.
The implicit effective metric assembles the stretch stiffness from
world-space edge vectors, but a flex vertex body's slide dofs are
expressed in its parent body's frame. When that frame is rotated the
assembled operator is therefore not the Jacobian of the passive stretch
force, which mj_flexPassiveStretch already maps into the dof frame with
xmat^T. The metric is then inconsistent with the force it linearizes:
implicit integration loses its stability guarantee, and models that the
same flex handles comfortably in an unrotated frame diverge.
Apply the matching change of basis in both places that build or apply the
stretch stiffness: mjd_flexStretch_mul rotates the input dof vector into
world and the scattered result back, and mjd_flexStiff_assemble sandwiches
each 3x3 block as R_bi^T * blk * R_bj. Both are no-ops when the parent is
unrotated. Bending needs no change: its blocks are isotropic, and
R^T (q I) R = q I.
This completes the fix in fe9dc584, which covered the passive force paths
and the interp (trilinear) derivative but not the standard stretch one.
On a mesh flex inside a body with a 90-degree rotation, the metric's
directional agreement with the force Jacobian goes from cos = 0.57 to
cos = 1.0, and a hanging sheet that previously reached 176% strain
settles at 0.87%.
This change introduces a get_frame method to the viewer protocol, replacing the previous is_running check. This allows the viewer loop to skip rendering and lifecycle events when no active frame is ready (for example, when no browser is connected to the web viewer).
Additionally, this change:
- Adds a shutdown hook to ViewerHandle to wait for the viewer to cleanly release resources before exiting.
- Implements an ExitEvent handler in the viewer protocol to stop the run loop.
- Adds an http_port configuration option for the web viewer.
- Prevents double-closing in the viewer.
PiperOrigin-RevId: 954603868
Change-Id: Iaba7d131dc94191de51150464514dd10fa7834b0
Avoid mutating ImGui draw lists in place by scaling clip rects locally during scissor computation instead of calling ScaleClipRects. This prevents clip rects from growing exponentially on persistent draw lists, such as streamed remote UI. Additionally, clamp the scaled clip rects to the viewport boundaries to prevent Filament's scissor test from rejecting out-of-bounds rects, while avoiding resetting to full-window scissors which would disable clipping.
The draw geometry is now immutable in the Update function (ImGui texture state is still mutated).
PiperOrigin-RevId: 954277141
Change-Id: Ifdf6866bb4eabaca44b020ea40acc246428b4f0b
Also updates MuJoCo files needed to address changes in Filament.
- "build with clang on windows" patch to sync context lines, remove some
upstream conflicts, disable Clang thread-safety attribute errors, and
allow running on MSYS2.
- Skip building Filament samples.
- Add missing <string_view> to material_manager.cc.
This forces git to treat the current directory as the git checkout to apply the
patch to, which avoids issues where a non-git checkout (e.g. from an unpacked
cached tarball) can cause git to find a higher-level git checkout and try to
apply the patches there, which then fails when the files to patch aren't found.
PiperOrigin-RevId: 953377327
Change-Id: I86f51d4e2823b64c825070139479089c7f30e53e
Fast path in mj_flexPassiveInterp, mj_flexPassiveBendInterp, and
mj_flexPassiveStretch assumed body slide joints are world-aligned
(J = I). When parent body has a non-identity quaternion, joint axes
are rotated (J = R_body), causing wrong force mapping and instability
(NaN/Inf in QACC).
Fix: project world-frame forces onto body local frame via
mju_mulMatTVec3(R_body^T, force) before adding to qfrc_spring/damper.
Also fix the derivative paths:
- mjd_flexInterp_kernel fast path: R^T * K_rot * R * vec
- mjd_flexStiff_assemble (CSR): R_bi^T * K_rot_block * R_bj
The CSR-assembled stiffness matrix is the actual path used by the
implicit CG solver (mj_flexCG gate). The test uses solver="CG" to
activate this path; without it, flex stiffness is integrated
explicitly and no derivative fix can help.
Ported from GitHub PR https://github.com/google-deepmind/mujoco/pull/3379
Original author: Devansh (https://github.com/devansh0703)
Fixes https://github.com/google-deepmind/mujoco/issues/3364
PiperOrigin-RevId: 952789284
Change-Id: If924f7160dd16c0cc88170d80e6e605da0fe2e04
This var was missing from the "clean up" step for all the path vars, causing
the cmake cache lookups to silently fail due to path mismatch.
PiperOrigin-RevId: 952410036
Change-Id: I5c542e821317497e899de95e5c62d76f88836e60
* Enhances ImGui dialogs to support keyboard shortcuts (Enter/Escape) and filters.
* Adjusts GUI layouts for simulation speed and compiler settings.
* Exposes additional model fields in the XML spec generator.
PiperOrigin-RevId: 951988061
Change-Id: I4927c12a8882ba4e91e6098355ec2f5db35c2747
Each pybind extension module holds its own copy of the ImGui/ImPlot globals (extension modules are loaded RTLD_LOCAL), so the viewer that owns the contexts must share the pointers explicitly. Without this, client plotting GUIs and user plotting scripts (e.g. the implot sample) crash on null context pointers.
PiperOrigin-RevId: 951917287
Change-Id: I639a173c2ae9f1af4feaf57aff7b5c81854b7393
Updates CONTRIBUTING.md to suggest that contributors who do not require Git authorship attribution let maintainers know in the PR, which allows for faster direct incorporation of changes.
PiperOrigin-RevId: 951751097
Change-Id: I521f1ad1978987c71a90e85c1bed71392a07ee7b
Yuval Tassa
