chenlin/Mujoco_WASM
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ad9cd7301e06c2a3aef4c902acaa149de5af04b3
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380 Commits

Author SHA1 Message Date
Yuval Tassa ad9cd7301e Correctly apply frame transform to light direction. 
PiperOrigin-RevId: 665340267
Change-Id: Ida16ddbf3a057ffd3e260b71180a45acbf749931
 2024-08-20 06:48:11 -07:00
Yuval Tassa 5d91231d31 Rename mjBuffer to mjByteVec. 
PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14
 2024-08-19 10:40:26 -07:00
Yuval Tassa 4aab00fa2d Minor cleanups to body and joint compilers. 
PiperOrigin-RevId: 664824939
Change-Id: I6014ff10683849e2926f1b1c8df8b6862192cd00
 2024-08-19 08:43:10 -07:00
Michael Ahn 9924d9ca89 Fixed incorrect mesh face circumradius calculation 
- In 8e2f830, this was changed from `mju_norm3` to `mjuu_normvec`, but the
  latter will mutate its input to be normalized instead of just
returning the norm (the former was likely mistaken as `mju_normalize3`
which does mutate its input).
 2024-08-15 20:53:57 -07:00
Alessio Quaglino e0e134ca63 Add plugin tests for mjSpec. 
Fixes #1903.

PiperOrigin-RevId: 663352920
Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17
 2024-08-15 10:19:53 -07:00
Alessio Quaglino 4b88e9bebf Do not delete keyframes during mjs_detachBody. 
PiperOrigin-RevId: 663281082
Change-Id: I6eedf8c5a3a422bcd78086f2fe30c2099f0b9d16
 2024-08-15 06:10:43 -07:00
Yuval Tassa d932faa1d4 Flip order of cases in user_objects.cc (readability) 
PiperOrigin-RevId: 663040865
Change-Id: I27d06a6a769d5bfc41189d270021b4fc1d4b5932
 2024-08-14 13:49:11 -07:00
Alessio Quaglino 4c64e6f036 Add mocap state to SaveState/RestoreState and attached keyframes. 
PiperOrigin-RevId: 662975257
Change-Id: I3edb44f34426525813033902caf31db16ad7b2ab
 2024-08-14 10:42:49 -07:00
Alessio Quaglino 5927b3d4d9 Add time to attached keyframes. 
PiperOrigin-RevId: 662886533
Change-Id: If9118a226250d2e806d184c9715c7e6a1390fd95
 2024-08-14 05:47:43 -07:00
Alessio Quaglino 7be4df7e03 Add ctrl to attached keyframes. 
PiperOrigin-RevId: 662878508
Change-Id: Ie273fae0220c8b257766cbbd90a880d44b901725
 2024-08-14 05:14:49 -07:00
Alessio Quaglino afd7c73f44 Attach multiple keyframes. 
Still missing: support for ctrl, mocap, and time.

PiperOrigin-RevId: 662871569
Change-Id: I8a418c4007663e3063d7146bd72db4eba78ddc5d
 2024-08-14 04:42:54 -07:00
Alessio Quaglino 19aa68c2b2 Add keyframe support to attach. 
Limitations:
- Supports attaching a single keyframe. If multiple keyframes are present in the child, only the first one will be attached.
- Does not support time, ctrl, mpos, mquat.
- If mjs_detachBody is used, all keyframes are removed.
PiperOrigin-RevId: 662517666
Change-Id: If6e3839471e1884afc14e1a75e7ce1957c2f3581
 2024-08-13 08:00:01 -07:00
Kyle Bayes 39896f8064 Restructure mjCMesh for caching. 
PiperOrigin-RevId: 662496475
Change-Id: I4c3a58a63ef2c3b1196b3e6b30eb556b5528ff7f
 2024-08-13 06:40:36 -07:00
Saran Tunyasuvunakool acab66d799 Remove superfluous break statements. 2024-08-13 10:46:35 +01:00
Alessio Quaglino 851bb6eef4 Add option to mjspec for creating a texture directly from a buffer. 
PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
 2024-08-12 12:29:08 -07:00
Kyle Bayes 20cae556ee Encapsulate BVH class members. 
PiperOrigin-RevId: 662141171
Change-Id: Ica202d31dacc9cc500d0aeecded941b79002b9a1
 2024-08-12 10:27:03 -07:00
Alessio Quaglino 648fd56ed1 Preserve time when recompiling a model. 
Fixes #1890.

PiperOrigin-RevId: 662084324
Change-Id: I6aed40761cee5044e63426935d102123db295b25
 2024-08-12 08:00:36 -07:00
Yuval Tassa d3a976e10d Fix indent. 
PiperOrigin-RevId: 662035313
Change-Id: I30ec124e8144b8130623daa6b0802a46de124aec
 2024-08-12 04:23:48 -07:00
Yuval Tassa d45d13e5ad Remove uses of mjtNum-typed functions from user_objects.cc 
PiperOrigin-RevId: 662026275
Change-Id: Idfb2b6ced6eac4b4b60079e219aac63fc1d00b89
 2024-08-12 03:45:43 -07:00
Yuval Tassa 02ffaa8248 Yet another GCC-related fix. 
PiperOrigin-RevId: 661595661
Change-Id: Ib66a0d891533be50451adc850d7350532fc39d67
 2024-08-10 05:32:28 -07:00
Yuval Tassa d72f01bad4 Add break statements in user_objects.cc to appease persnickety GCC 
PiperOrigin-RevId: 661590599
Change-Id: I2d167ca92cc4d5230922d221c9267a2e8d018b40
 2024-08-10 04:56:18 -07:00
Yuval Tassa e397fcb5a5 Add return values to private mjJCJoint methods. 
PiperOrigin-RevId: 661438758
Change-Id: I08a77eb878703610ead526040d86f3f3fccb080b
 2024-08-09 16:09:17 -07:00
Taylor Howell 466368efc6 Add shellinertia support for primitives: sphere, capsule, cylinder, ellipsoid, and box. 
PiperOrigin-RevId: 661407997
Change-Id: Icddac58c540c71ea26ac7a3be874788443bd1122
 2024-08-09 14:40:13 -07:00
Alessio Quaglino ec43ec7c30 Remove hard-coded nPOS and nVEL from mjCModel. 
PiperOrigin-RevId: 661370196
Change-Id: Ib2c1876dfea55dbf496e2358000f24bbde29fc52
 2024-08-09 12:53:55 -07:00
Taylor Howell 82c27165f2 mjQUICKSORT uses std::sort with C++. 
fixes #1638

PiperOrigin-RevId: 660887790
Change-Id: Ia3b493feda98b246d963aa749bc81b96c42fddaa
 2024-08-08 10:24:34 -07:00
Nimrod Gileadi 6a8e28f0e9 Prevent integer overflow when computing texture sizes and allocating memory for them. 
Correctly check for failed allocations when resizing std::vector

PiperOrigin-RevId: 659488680
Change-Id: I7bf4c0b416e96eda2baec32b21be78456604f4b0
 2024-08-05 02:58:46 -07:00
Nimrod Gileadi ff5d339e48 GMSH loading: Check that std::stoi isn't out of range. 
PiperOrigin-RevId: 659485119
Change-Id: I584ba33f87dbe3b87a8c4fb90feb8963106115da
 2024-08-05 02:41:19 -07:00
Alessio Quaglino b341bd391d Fix a bug with mjs_delete functions. 
PiperOrigin-RevId: 657615906
Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b
 2024-07-30 09:13:57 -07:00
Copybara-Service 123a01bd83 Merge pull request #1833 from JewelryForge:main 
PiperOrigin-RevId: 657249579
Change-Id: I11b9602ea685b22d0cc61add9e90e7a5c68559dd
 2024-07-29 10:36:39 -07:00
Alessio Quaglino 3f0749a0f7 Do not remove elements that contain user errors when detaching a subtree. 
PiperOrigin-RevId: 657190780
Change-Id: I073a437013f80596a341f7b80bed991536efeb43
 2024-07-29 07:19:12 -07:00
Kyle Bayes 5ac5cfb618 Support directories in VFS via mj_addBufferVFS. 
PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
 2024-07-23 13:39:18 -07:00
Kyle Bayes 2746cb8559 Support FilePaths instead of raw strings in XML code. 
PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
 2024-07-23 08:36:53 -07:00
Tom Erez 33e5960653 Allow multiple textures per material in MJCF. 
PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
 2024-07-22 09:57:51 -07:00
Alessio Quaglino e79efa60d6 Reset tree indices before recompiling. 
Fixes #1822.

PiperOrigin-RevId: 654762203
Change-Id: I7f656f7dad376d4899229a8741315c8f821bfa56
 2024-07-22 08:30:29 -07:00
Chengrui Zhu cdd8531290 Fix typos and indents. 2024-07-22 13:45:15 +08:00
Tom Erez 796173170c Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role. 
PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
 2024-07-19 09:29:22 -07:00
Kyle Bayes 8a8a44a4db Refactor numerical parsing in XML. 
PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
 2024-07-19 05:42:02 -07:00
Tom Erez e92af73cbf Add mjmodel support for textures with different number of channels. 
PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
 2024-07-19 05:22:19 -07:00
Alessio Quaglino c198a69bbf Return null pointer from mjs_firstChild and mjs_firstElement when the requested list is empty. 
Fixes #1824.

PiperOrigin-RevId: 653758711
Change-Id: I6ede762cafd88dcbb0dfc9c2999b7aee24bd2e2a
 2024-07-18 14:35:36 -07:00
Alessio Quaglino 231d9632cd Avoid duplicated code in mjCModel by adding ResetTreeLists(). 
PiperOrigin-RevId: 653575505
Change-Id: I61ee1462deae2a371cf6f36ca1cf3dbbd88d174c
 2024-07-18 05:08:18 -07:00
Alessio Quaglino dd9dd295ba Prevent uninitialized memory during a copy of joints and actuators. 
PiperOrigin-RevId: 653340718
Change-Id: Icc5ada05abd590504c157311a309f9b8493feac9
 2024-07-17 13:22:11 -07:00
Yuval Tassa dd25973481 Remove unnecessary def_map copying. 
Introduced in 5b080bacc4
Made obsolete by 27b9ddda5b
[Context](https://github.com/google-deepmind/mujoco/commit/27b9ddda5bdd12345abdfbc0a6efce121d40cd6c#r144157607)

PiperOrigin-RevId: 653254345
Change-Id: Ie944d2c3924d3eb91f7743c0d0c8413cd2cd79cc
 2024-07-17 09:10:31 -07:00
Alessio Quaglino 2664cc1391 Allow passing a null pointer in mj_recompile. 
Fixes #1819.

PiperOrigin-RevId: 653242587
Change-Id: I36dbd6ed54abdf21abeb62cf41ee88f159008d01
 2024-07-17 08:29:01 -07:00
Kyle Bayes 2cf352c2e6 Add VFS handling logic to mj_openResource. 
PiperOrigin-RevId: 653124909
Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
 2024-07-17 00:41:18 -07:00
Alessio Quaglino 9a7c1df130 Set unused inherited opaque pointers to nullptr. 
PiperOrigin-RevId: 652444674
Change-Id: I3e82b1e1ae029f2f01ddcdf5ce2ccb45624e7062
 2024-07-15 05:15:45 -07:00
Alessio Quaglino cf61d88e41 Move pointer assignments from CopyFromSpec() to PointToLocal(). 
Note that these internal pointers are inherited from the public structs and are unused internally.

PiperOrigin-RevId: 652414750
Change-Id: I5e42503bce8e9019291ec0a1f8c4278438474e9b
 2024-07-15 02:47:32 -07:00
Yuval Tassa 22a10fd2ff Minor documentation improvements. 
PiperOrigin-RevId: 652064694
Change-Id: I13009410fbd3ce5ac90788f61e32354474a8e19e
 2024-07-13 08:36:47 -07:00
Alessio Quaglino 5d51b4cd5f Check that element is a nullptr before casting. 
The bug was caused by the fact that the `mjs_as*` functions would return a pointer to a `mjC*` object, even if the input `mjsElement` pointer was null. This would cause a segfault.

PiperOrigin-RevId: 651802736
Change-Id: Ibec00d269a4befadff8a68e0513fd381c7e38a2a
 2024-07-12 09:46:16 -07:00
Nimrod Gileadi 84108589c4 Move the map lookup outside of the mesh processing loop. Change to unordered_map. 
PiperOrigin-RevId: 651745837
Change-Id: Ibfcbe4b8cefa53a3dbaa99c4ca68442e2e10bc5d
 2024-07-12 05:45:25 -07:00
Alessio Quaglino 6e64dd10e8 Fix bug in RemoveFromList. 
The function was interpreting that the elements that were expected to be detached contained useful user errors, and therefore it was not detaching them. Also, the function tried to compare the namespace between two models, but the namespace is already fused in the references at detach time.

PiperOrigin-RevId: 651738364
Change-Id: Ifdaa9bd5b658bfd18b544b7138a5c2c56b66e936
 2024-07-12 05:08:00 -07:00