 Yuval Tassa
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815dbb996e
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Use body_weldid to find the first movable body in a chain.
PiperOrigin-RevId: 863774053
Change-Id: I8df96d5af7cc80d78a6f35560c3c31bed8be550e
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2026-01-31 17:16:36 -08:00 |
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Alessio Quaglino
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e56b31e98f
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Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
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2026-01-14 11:18:41 -08:00 |
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Yuval Tassa
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600f0f20bc
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Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
PiperOrigin-RevId: 843635464
Change-Id: I3b0553eea98424ccc7def77e3769e2994f3e9014
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2025-12-12 04:49:29 -08:00 |
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Kyle Bayes
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ae24034f24
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Refactor hfield-convex collision code. This should be a no-op.
PiperOrigin-RevId: 837045492
Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
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2025-11-26 03:26:56 -08:00 |
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Yuval Tassa
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769f37b653
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Implement sleeping in engine
PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
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2025-11-07 03:33:07 -08:00 |
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Yuval Tassa
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12f0e3df9a
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Quick return for static bodies in mj_object{Velocity,Acceleration}
PiperOrigin-RevId: 818238459
Change-Id: I340a2f61439db2a149cc64a5fee543680fdcad0f
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2025-10-12 01:25:05 -07:00 |
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Yuval Tassa
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18779ab54a
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Clean up engine_core_util
PiperOrigin-RevId: 814709359
Change-Id: If4ec66808e7de51e16b772afdb8485fa4ff30030
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2025-10-03 08:48:11 -07:00 |
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Yuval Tassa
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edbdb5195c
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Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
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2025-10-01 07:58:17 -07:00 |
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Yuval Tassa
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e51459f949
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Break out struct initialization functions into engine_init.c.
PiperOrigin-RevId: 811598048
Change-Id: Ia832a8268e2209a5a264bbf79aa00dda487206bc
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2025-09-25 19:22:27 -07:00 |
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Yuval Tassa
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52da7586dc
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Clean up includes in src/engine
PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
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2025-09-16 09:36:44 -07:00 |
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Yuval Tassa
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b9900db00e
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Extract memory allocation functions and core utilities
PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
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2025-09-01 03:38:25 -07:00 |
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