The Renderer should configure the context and flip the image when
in classic mode and not rely on the Window to do so.
PiperOrigin-RevId: 878480986
Change-Id: I1af899107647469659662abd85527cdf66f507f4
The SpecEditor improves spec editing by keeping
track of what's being edited and how it changes
over time.
PiperOrigin-RevId: 878410011
Change-Id: I7c323eeb30178dad31946095a727a21b3955f19a
Repro instructions (note compiler cache and threading must be enabled):
Assume we have a cube.stl mesh containing face data and the following XML:
<mujoco>
<asset>
<mesh name="cube" file="cube.stl"/>
<mesh name="unused" file="cube.stl"/>
</asset>
<worldbody>
<geom type="mesh" mesh="cube"/>
</worldbody>
</mujoco>
Suppose Thread A processes "cube" and Thread B processes "unused". Thread A will generate the mesh hull and will generate polygon data from faces from qhull. Thread B will NOT generate the mesh hull and will generate polygon data from faces coming from mesh file. Thread A beats Thread B to caching the mesh.
When "unused" is later pulled from the cache it gets the polygon data that was generated from "cube" which is not the same that was generated from "unused".
PiperOrigin-RevId: 878336494
Change-Id: I275b09b44490c54b2a5f09d91d0cc047026090f2
The flex-SDF algorithm uses the same logic as mesh-SDF. Previous to this change, the flex was instead colliding with the convex hull of the mesh generated automatically with marching cubes from the SDF.
PiperOrigin-RevId: 876420302
Change-Id: I3bf6552b6b8e108ba4c4209bbcf10fe5f2b2fd90
Deleted MAXMESHPNT farthest point sampling instead of sorting by penetration distance is now used to select the best contact points, up to mjMAXCONPAIR. Deleted MAXSDFFACE, the BVH traversal now directly calls a function to process each leaf face against the SDF, instead of collecting face indices and processing them in a separate loop. This reduces memory by removing the need to store all intersecting face indices.
PiperOrigin-RevId: 876296914
Change-Id: I8068d634e2a01ffa9357d0c5381219d097e97abe
This CL rolls back the change from changelist 794576123 since the previous version was more robust and stable. Compared to the original algorithm, this changes handles degenerate and very large triangles as well.
BEGIN_PUBLIC
Restore mesh-SDF collisions.
END_PUBIC
PiperOrigin-RevId: 875716983
Change-Id: If0de41dc7bbd60460779821d2338cf2d661f40d5
The editor panel allows you to add, remove, and modify spec elements
as well as recompiling and loading the spec.
Also includes utilities for handling vertically split panels.
PiperOrigin-RevId: 875658785
Change-Id: I18b10971d587db5eb1e65a033e1dc042faac7f1d
- Simplified constraint tree discovery with a unified iterator.
- Filling in a new `efc_tree` array to avoid calling tree discovery again in the constraint phase.
- Implemented dof skipping in the dense case for efficiency.
PiperOrigin-RevId: 875440387
Change-Id: Id44a5a6fe2a80edaaf30935506a023a307e21303
There are enough differences between how the two are structured that
having separate implementations makes things easier to implement
despite some minor code duplication.
PiperOrigin-RevId: 875287973
Change-Id: Id49e089e5e1944291ce79e79f8cb71d048a942cc
Rename stubs.cc to mjr_compat.cc. This library acts like a
"compatibility layer" that allows the filament renderer to
be implemented behind the mjr API.
PiperOrigin-RevId: 875114054
Change-Id: I5c47581cacbcadff4c78d2ad15728cc1c3a394ad
The `mjCOctree::ComputeSdfCoeffs` function has been replaced by `mjCOctree::ComputeSdf`. The new implementation removes the dependency on the `triangle_mesh_distance` library. Instead, it uses a provided `mjCBoundingVolumeHierarchy` to perform closest point queries on the mesh. The signed distance is computed by finding the closest triangle face via the BVH and determining the sign based on the dot product of the vector from the closest point on the triangle to the octree vertex and the triangle's normal.
Optional Laplacian smoothing has been added to the SDF coefficients. This helps smooth out potential discontinuities at octree level boundaries.
PiperOrigin-RevId: 875093374
Change-Id: I6fa53243a2dda107ccf255bc6b876ca5a4554d4f
This change introduces methods to cache and load the computed stiffness matrix and nodal masses for flex elements. The cache key is generated based on material properties (Young's modulus, Poisson's ratio), interpolation order, and the bounding box of the flex. This avoids redundant expensive computations when compiling models with identical flex definitions.
PiperOrigin-RevId: 874689771
Change-Id: I6d1e299baf294a984b507e2a2602b2c068610536
Display all other elements under "Elements" or "Assets" group.
Show properties for mjSpec, mjModel, and mjData for selected
elements.
PiperOrigin-RevId: 874614195
Change-Id: I128c2bec844983ac5d35a3a0b1e58b8a5b0109cb
The logic for computing Signed Distance Function (SDF) coefficients using TriangleMeshDistance is moved from `mjCPlugin::Make` in `user_mesh.cc` to a new method `mjCOctree::ComputeSdfCoeffs` in `user_objects.cc`. This encapsulates the SDF computation within the octree class.
PiperOrigin-RevId: 874572414
Change-Id: Ia2365c9c4527a252ff1d1bb43fe2c2593761e471
The reduced dense factorization for flex interpolation now considers all DOFs in the kinematic chain of the body containing the flex, using mj_bodyChain, instead of only the DOFs directly associated with that body. This is necessary for correctly handling pinned flexes when their parent body is part of a larger kinematic structure.
PiperOrigin-RevId: 872854468
Change-Id: Idbe9fb459084dde9e8eb1076c70dbb685c1b0bdb
Add a simple GUI for it that allows users to enable/disable
the key binding as well as control some parameters.
PiperOrigin-RevId: 872816645
Change-Id: I8abb2803e17b4f6195d447220c436d4701b24db8
This change introduces a filter for flex-related contacts, ensuring that no more than mjMAXCONPAIR contacts are kept for each geom-flex, flex-flex, flex internal, and flex self-collision pair. The contacts are sorted using farthest-point sampling:
- Starts with the deepest penetrating contact
- Iteratively selects the contact farthest from already-selected contacts
- Produces a spatially distributed set of contacts
PiperOrigin-RevId: 872593388
Change-Id: I50b233a0dc66da6a297852c258ba514f131c8f23
Haroon Qureshi