- Fixed bug in timing of kinematics, was under-reported.
- Moved timing of inertia and collision into respective functions, in preparation for multi-threading.
- Detailed profiling in `testspeed` is always on, removed command-line flag.
- Improved `testspeed` self-documentation.
PiperOrigin-RevId: 571989548
Change-Id: If0e3cc17f6f3511b98fc36339f406a19968a9361
This solves the texture rendering issue with the Rubik's cube. The texture were specified with respect to the incorrect frame, so a default rotation of (0, 0, pi/2) is now applied to the model file.
PiperOrigin-RevId: 571715153
Change-Id: I3efae3b1fc8f64e6c9e4db90a7609506e3cbed86
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".
Fixes#876.
PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
If GL_ARB_clip_control not available then [znear, zfar] -> [1, -1] instead of [1, 0] in normalized device coordinates
Thus, Z is still reversed, but not shifted, clipping should still work properly, and conversion to window coordinates does not cause accuracy regression compared to non-reversed Z rendering.
Combined, both options greatly improve camera depth accuracy compared to
OpenGL default Z mapping and int24 depth buffer.
Requires GL_ARB_clip_control and ARB_depth_buffer_float extensions
1) protect mj_arenaAllocBytes with mutexes
2) create shards for each thread in the stack and update mj_stackAllocBytes to allocate memory within each shard for a given thread
PiperOrigin-RevId: 568315726
Change-Id: I0dee6694f2a5200fa4df22ade0e68dfaebf637fc
- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges
PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.
- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).
- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).
PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW
PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.
BEGIN_PUBLIC
Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.
- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.
END_PUBLIC
PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
The SDF is defined in the `geom` frame. Using a mesh changes this frame so the inverse transformation is needed. So far the full `geom_pos` and `geom_quat` were used, which possibly contained user transformation. This CL uses the new structures which only contain transformations due to mesh processing.
PiperOrigin-RevId: 564721461
Change-Id: I6fb28001b38eaa50663427bce452cb1f05a56ac0
Zero all of act_dot when there are custom actuator dynamics, but no callback.
END_PUBLIC
PiperOrigin-RevId: 564712105
Change-Id: I107481727a42eb2577d62e29ac4e1496c56bb634
This makes mj_forward calls idempotent if warmstart is disabled and quats in qpos are normalized.
PiperOrigin-RevId: 564442666
Change-Id: I9c43add82bcfb4101c19fbfbfc8c30091b8906d5
- Make mjTask non-opaque and remove C++ Task class.
- Make C++ thread pool a subclass of a skeletal mjThreadPool C struct.
- Make the mjTask status enum more consistent with the rest of MuJoCo.
- Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct.
- Rename files in thread/ to be more consistent with the rest of MuJoCo.
- Run threading tests in CMake.
- Allow use of C++20 designated initializers.
Otherwise the functionality remains identical.
PiperOrigin-RevId: 564374675
Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
Alessio Quaglino