ccbfc6c8bf
Improve line search initialization logic and first Newton step acceptance.
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PiperOrigin-RevId: 844316808
Change-Id: I0a7639a486c75f122db7f8b8c0df42ef810f060c
2025-12-14 01:50:52 -08:00
e3a860de69
Update function signatures in engine_util_spatial.h to appease fussy GCC
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PiperOrigin-RevId: 843752024
Change-Id: I041efe6acc5a4a44488bb9ec09101681d47c37c5
2025-12-12 10:47:31 -08:00
43bcbb158c
Load last saved GUI configuration on first load.
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Also save theme to the configuration.
PiperOrigin-RevId: 843710929
Change-Id: I7ce9ce0f026d2cb5f79addf6c16c9b540bf11954
2025-12-12 08:56:53 -08:00
499291e5c2
Fix aliasing issues in engine_core_smooth.c
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PiperOrigin-RevId: 843699660
Change-Id: I21d4ed09284624ce80fcd5b1d572b9084e95e1f1
2025-12-12 08:25:06 -08:00
3da421afaa
First-pass implementation of web-based studio app.
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PiperOrigin-RevId: 843685213
Change-Id: I2642a21d5573ef548eece0eb9a2c634e4881eec5
2025-12-12 07:42:42 -08:00
157d261701
Fix aliasing issues in engine_collision_primitive.c
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PiperOrigin-RevId: 843665186
Change-Id: I76cd479991f6083495e7ad95c2f57a8ef8fde925
2025-12-12 06:36:34 -08:00
9fc37a3be4
Fix aliasing violations in engine_collision_box.c
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PiperOrigin-RevId: 843647612
Change-Id: If8ad12c058a30ec475b9eb47d315019edbb8a7bb
2025-12-12 05:35:42 -08:00
600f0f20bc
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
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PiperOrigin-RevId: 843635464
Change-Id: I3b0553eea98424ccc7def77e3769e2994f3e9014
2025-12-12 04:49:29 -08:00
a0a56065e0
Use hex values instead of u8 string literals.
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PiperOrigin-RevId: 843583709
Change-Id: Ib55cfd472de2f83b0455ebf95f6826c887f6dd70
2025-12-12 01:45:13 -08:00
e07adc387a
Update themes to differentiate from default dear_imgui themes and add a classic theme that's similar to simulate.
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PiperOrigin-RevId: 843313013
Change-Id: Id01841097f32a5b01acd8fcf59392a73acad8f27
2025-12-11 11:46:12 -08:00
87d333c64a
Allow MJB and XML content to be loaded directly.
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PiperOrigin-RevId: 843180720
Change-Id: Id4f2bf81507b971dfbbf250d775d7fdfc76517df
2025-12-11 05:41:43 -08:00
1ff74ba810
Change the type of state signature arguments from unsigned int to int
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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
fe0a11d58d
Change Filament background color to black.
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PiperOrigin-RevId: 843152096
Change-Id: I2ef87ffffb9cc8662fa6353c6d38f1046f21b34b
2025-12-11 03:56:34 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
6bcb22730d
Minor clean-up of some visualization code.
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Move mjvGeom acquire/release into helper functions, where possible.
PiperOrigin-RevId: 842675435
Change-Id: Ie5aaf206927251e79b20cc4101a7017645d5dd4b
2025-12-10 05:09:53 -08:00
9c1b8d8cfb
Enable font loading for wasm builds.
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PiperOrigin-RevId: 842627994
Change-Id: I347f79ec668f31a8bbc4d26638a045e29084d715
2025-12-10 02:31:46 -08:00
f06aa45ea6
Consolidate ray normal functions.
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PiperOrigin-RevId: 842300829
Change-Id: Ic5e921084710cb044a4f49ea9b566d277838aaa1
2025-12-09 10:36:10 -08:00
85e6f6de3c
Ignore unsupported light types in GL3 renderer.
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PiperOrigin-RevId: 842271116
Change-Id: I632f7ed8e2a6488d5a8eb228928e26c8fcbdff66
2025-12-09 09:22:29 -08:00
32d7b87ba7
Improve studio 2D plots
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PiperOrigin-RevId: 842260702
Change-Id: I4644b69da92b9d015eb2d140b98f68c05d31a222
2025-12-09 08:56:51 -08:00
5b1fa666fb
Add mj_rayHfieldNormal (not exposed in public header)
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PiperOrigin-RevId: 842259581
Change-Id: I27d6c46024d55addbc22eed276331e2ef5acfa7d
2025-12-09 08:53:47 -08:00
7553541b4b
Use public mj_parseXml function.
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PiperOrigin-RevId: 842245812
Change-Id: I26e1f992f82050a36373ee3a3f2c97c399b4e788
2025-12-09 08:14:32 -08:00
97eb307ce9
First pass at mjSpec Explorer and Properties windows.
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Displays the list of bodies and joints from the mjSpec and displays
values for the selected element.
Functionality is very limited and a bit non-intuitive. However, we want
to get this into our users hands to start getting feedback.
PiperOrigin-RevId: 842228895
Change-Id: I2491cd5e0acaf622110e0f6b8406919024d3607a
2025-12-09 07:28:26 -08:00
c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
925c533580
Move playback speed control to the toolbar.
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Initialize playback speed based on the model's global.realtime setting.
Adjust layout and tweak colours of the status and tool bars.
PiperOrigin-RevId: 842214796
Change-Id: Iff9cda74178df28a0787693242fee81e011014fc
2025-12-09 06:47:38 -08:00
cc914c9ec7
Modify studio keyboard bindings to conform to MuJoCo API.
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PiperOrigin-RevId: 842197387
Change-Id: I6ee9b1f5050cb4a8c2f67253f37481c61c91fdbd
2025-12-09 05:53:14 -08:00
f65c1cdfd1
Add mj_raySdfNormal (not exposed in public header)
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PiperOrigin-RevId: 842178540
Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
2025-12-09 04:43:39 -08:00
e1e2248925
Internal changes only.
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PiperOrigin-RevId: 842099953
Change-Id: Ia11feec323504976cdc3e6d7170435b74ed33fcd
2025-12-09 00:18:06 -08:00
99a90cb649
Don't do GUI rendering when rendering to texture.
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PiperOrigin-RevId: 842089364
Change-Id: Iaecebdc677e946c7fc618395205097462a56f2d1
2025-12-08 23:44:50 -08:00
735b31fc89
Fix triangle lighting in native renderer.
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PiperOrigin-RevId: 841796563
Change-Id: I778e0e02aa8b4033531d4fadc091610418ab909e
2025-12-08 09:27:04 -08:00
e238b65843
Support both 3 and 4 channel images and use a safer way to assign IDs to images.
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PiperOrigin-RevId: 841727607
Change-Id: I319db4291ecee27f4ceb7b7e952c6f68e7f8b96d
2025-12-08 05:55:00 -08:00
96e376451c
Update MuJoCo version from 3.4.0 to 3.4.1 following the 3.4.0 release
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PiperOrigin-RevId: 840914696
Change-Id: Iffabc70dd174384ba1c535cafcd34982ff8e5712
2025-12-05 16:15:56 -08:00
fcdacd0690
Fix crash when using image-based textures.
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Image lights are not normal lights, so use nullptr as a placeholder.
Add checks for nullness when iterating over the lights.
PiperOrigin-RevId: 840695579
Change-Id: I092515ae814523e85f4f5ce87b2bac2241f4ea35
2025-12-05 06:08:13 -08:00
6e7b2ba4c3
Reuse renderable entity instead of recreating every frame.
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PiperOrigin-RevId: 840680350
Change-Id: Ie26862f8993c4b1cf071ee867d89bcc8182d3dd2
2025-12-05 05:10:12 -08:00
f18c9996e6
Allow uploading textures for use with ImGui.
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PiperOrigin-RevId: 840669528
Change-Id: I7c5854d966dd024cd492953f86bca961cfaf88b8
2025-12-05 04:31:32 -08:00
e93786c161
Fix WebGL rendering for the webdemo
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PiperOrigin-RevId: 840640628
Change-Id: I4bac3bf634e66da01174927bf6096bc1df642e10
2025-12-05 02:39:54 -08:00
6ed9f2be7a
Removed unused font uploading functionality.
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Font textures are handled directly through ImGui.
PiperOrigin-RevId: 840259537
Change-Id: I5b6b0dc5d2c1c7066b4a23f0106de34285f40e6c
2025-12-04 08:38:58 -08:00
da36e822a8
Allow material default classes to define texture layers.
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PiperOrigin-RevId: 840254100
Change-Id: I59f67fc4d1485cf80bbc005d1b35cda6224248ed
2025-12-04 08:22:55 -08:00
5ee8b646f7
Move Style and Layout configuration to shared GUI library.
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PiperOrigin-RevId: 840246253
Change-Id: Ic4664b62e86e70fd6780cd9eb885978064c5f585
2025-12-04 08:02:16 -08:00
5f59104877
Properly handle PBR materials where no color texture is provided.
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In this case, we'll use the mujoco material color which is then multiplied with a white fallback texture.
PiperOrigin-RevId: 840244521
Change-Id: I2134f45dcbaed7db268e5278ca8ac5429488943d
2025-12-04 07:57:24 -08:00
680e9a6b79
Update studio build script and instructions.
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Mujoco studio now works on Windows and MacOS.
PiperOrigin-RevId: 840235447
Change-Id: I66d3430d5d994de2eb13ee08ad3051c6c7187e12
2025-12-04 07:27:37 -08:00
c5cd276e1f
Cleanup model loading flow.
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Inlines the platform::LoadMujocoModel into the App class which simplifies
the logic and allows us to correctly display loading errors.
Also updates shortcuts:
Load Model (Ctrl+L) -> Open File (Ctrl+O)
Reload Model (Ctrl+R) -> Reload Model (Ctrl+L)
PiperOrigin-RevId: 840232553
Change-Id: I957d29046ae681d2aeb69310c3a2eec64d042d49
2025-12-04 07:20:02 -08:00
8823e9fedf
Improve imgui texture management.
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Keep track of all textures and recreate them as needed. This makes imgui
textures robust to render context reinitialization.
PiperOrigin-RevId: 840228061
Change-Id: Ia4ac35ff93a41ac74020f334adc438df4b030f7c
2025-12-04 07:05:14 -08:00
54070fc71b
Disable bent normals by default.
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PiperOrigin-RevId: 840216781
Change-Id: Icf24d73939fa138da46e2da7aa69a6574e6f98ec
2025-12-04 06:28:53 -08:00
a942fd4875
Make filament segmentation shader distinct colors optional.
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Previously we were computing at material update time a color for the geom based of it's
segid. This made segids unrecoverable from the resulting buffer. With this change
we allow SceneView creators to specify if they want the segmentation buffer to be purely
for visualization with distinct colors.
PiperOrigin-RevId: 840016870
Change-Id: I5920f248ace0901023e6545c7d8dd2b23f9aa397
2025-12-03 19:26:20 -08:00
4a6b9456aa
Set default headlight intensity to zero if there are no physical lights in the scene.
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PiperOrigin-RevId: 839962392
Change-Id: I086d8135604982c42381a9b49cec53773c7fa362
2025-12-03 16:31:11 -08:00
8507b62556
Cache the rendering mode used to allow headless segmentation rendering.
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This also moves the read call into the frame, per the recommendation in the filament documentation. We also don't need to flush and wait for the engine twice, just defer to the end of readPixels.
PiperOrigin-RevId: 839953612
Change-Id: I52205147794440322ca976c52fb4905207c21473
2025-12-03 16:06:39 -08:00
14513a04c2
Wait until previous render is finished before submitting another request.
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PiperOrigin-RevId: 839707507
Change-Id: Ib39538540ff6080d197c2ea853b7273cc56084e7
2025-12-03 05:01:44 -08:00
e409538831
Ensure window scale is initialized on creation.
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PiperOrigin-RevId: 839699437
Change-Id: I99e477ac49b56726b77389306aec49c895e160fa
2025-12-03 04:29:52 -08:00
448fc0e4d5
Report the actual GPU framerate rather than the main thread submit rate when using the filament renderer.
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PiperOrigin-RevId: 838775463
Change-Id: If66644d284a4a9e0263cf31bfbd1785b18e0209b
2025-12-01 08:02:38 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
Yuval Tassa