c8e839a666
Do not create contact if there are no DOFs.
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PiperOrigin-RevId: 601146599
Change-Id: I68b1975a3217b266bbbfb0a15c85a65cfa46facb
2024-01-24 09:37:40 -08:00
1c34553631
Add shortcuts for power function in impedance computation.
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PiperOrigin-RevId: 590692245
Change-Id: I1a49475c9a8299f4845e4ec33c9a7ce21a9c5d2b
2023-12-13 13:14:27 -08:00
d0cabcf7db
Only apply torquescale once, when setting efc_pos.
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PiperOrigin-RevId: 580694671
Change-Id: Ic0e2ee773d65d4fd92f4b4102cdfdd040516680a
2023-11-08 16:15:36 -08:00
86d9c84e59
Fix bug in implementation of torquescale
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PiperOrigin-RevId: 577466789
Change-Id: I3c8e5dd9b4af9a629e777f7ccad8417075b0046c
2023-10-28 08:25:25 -07:00
01a932e052
Fix flex constraint Jacobian for edges belonging to a single body.
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PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
2023-10-20 02:49:34 -07:00
a9ee497e33
Add spaces around comparison operators.
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PiperOrigin-RevId: 573620198
Change-Id: Icf295cc0dd381a4a7f0e2c94f2e12b499193e862
2023-10-15 07:40:10 -07:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
1bd6c94e6d
Fix setting wrong value in efc_diagApprox for rotational components of weld constraints.
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PiperOrigin-RevId: 572276016
Change-Id: Ic985a342777aca976f5c4bc781133fb4a8976e3f
2023-10-10 09:34:34 -07:00
ee78b8f76b
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
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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
2023-10-03 09:32:24 -07:00
9902b73502
Rename mj_stackAlloc to mj_stackAllocByte.
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PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
2023-09-18 10:53:35 -07:00
4929077211
Remove mjMARKSTACK and mjFREESTACK macros.
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PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
2023-09-05 11:41:43 -07:00
d5292976de
Add internal utility for zeroing int vectors.
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Remove unnecessary branches in related functions.
PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
2023-09-05 07:15:14 -07:00
600c12533d
Add mj_constraintUpdate_island.
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PiperOrigin-RevId: 562581620
Change-Id: If156a02873168127e2c5f2f377532fd45f7eec1c
2023-09-04 10:33:34 -07:00
5cef4708f2
Allow mj_mulJac(T)Vec_island to read and write from uncompressed vectors (length nv or nefc).
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PiperOrigin-RevId: 562547310
Change-Id: Id517c1842e711639f4113d23cc364945839a3759
2023-09-04 06:51:51 -07:00
0e36f00857
Fix more mjData stack leakages.
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PiperOrigin-RevId: 562545230
Change-Id: I2facf25b00878669dc12d5865767a44229d2ca48
2023-09-04 06:38:50 -07:00
5a21e202ed
Eliminate mjContact copying during collision detection.
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This results in approximately 4-5% speedup in collision detection for particle.xml.
PiperOrigin-RevId: 562526634
Change-Id: Ia6487b1908618064d858bac484fe6861ed37a402
2023-09-04 04:46:26 -07:00
89f47c33e4
Fix mjData stack frame leakages.
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PiperOrigin-RevId: 562091591
Change-Id: Ia7bb8a70ccba6bd40edc06ad8ebfac16e4286836
2023-09-01 17:57:39 -07:00
29aa5e4a41
Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.
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PiperOrigin-RevId: 561951337
Change-Id: I1310d7c09d9a85ad9b43877155844a9d0ce6edab
2023-09-01 07:40:16 -07:00
02e819e76a
Tighten const qualifiers of mjData in Jacobian multiplication functions.
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PiperOrigin-RevId: 561711229
Change-Id: I66dc1d2fbcfbf8e935b244fe496ada314d53b135
2023-08-31 11:27:15 -07:00
f9c57f6213
Refactor a loop in mj_constraintUpdate.
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PiperOrigin-RevId: 561684763
Change-Id: Ifbca1793760ecb49f4b48a1a236bd7c1c6e73d0e
2023-08-31 09:59:40 -07:00
eaa2572a8b
Add private function mj_mulJacTVec_island for Jacobian transpose multiplication with sub indices corresponding to one island.
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PiperOrigin-RevId: 561672392
Change-Id: Ic72fd7de2a542603cc42e1c15ecb4edd27a9a986
2023-08-31 09:12:34 -07:00
85fd922b37
Add private function mj_mulJacVec_island for Jacobian multiplication with sub indices corresponding to one island.
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PiperOrigin-RevId: 561648540
Change-Id: I8080a620807e824b40b5d6ba484beb06d081d444
2023-08-31 07:28:24 -07:00
daa2ac7f8b
Rename nstack to narena, change it and pstack to count bytes.
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PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
2023-08-29 10:13:33 -07:00
b979a26b10
Rename mj_stackAlloc to mj_stackAllocNum.
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PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
2023-08-29 08:43:03 -07:00
ea5e00cad8
Move mju_combineSparseCount into engine_util_sparse.
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PiperOrigin-RevId: 561025741
Change-Id: I0bdc48554928fc4545a38a8cea3bdeb593bd7ecd
2023-08-29 07:40:53 -07:00
df1b3515c7
Add mjData.nl: number of active limit constraints.
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PiperOrigin-RevId: 561012367
Change-Id: I9a01fec55502f8a90d7435972e477455ae29df15
2023-08-29 06:32:18 -07:00
4db3377467
Don't use mj_stackAlloc for int allocations.
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PiperOrigin-RevId: 559846094
Change-Id: I43eeec0b1970b2c6047be4e7c3548a4ce9aa6f5f
2023-08-24 13:09:51 -07:00
22fd0586b1
Move core_constraint arena allocations to local function.
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PiperOrigin-RevId: 558823297
Change-Id: I4a564f0d05c17634e70fbff16e8bdca2e7d7fb63
2023-08-21 10:07:10 -07:00
ba12a1354b
Optimize and refactor combineSparse and combineSparseCount.
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PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
2023-08-18 06:14:09 -07:00
b1ecc943bb
Fix multiple bugs related to mjvSceneState.
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PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
2023-08-17 10:25:39 -07:00
8ea690ed70
Remove unused parameters from mju_sqrMatTDSparseInit.
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PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
2023-08-15 06:30:19 -07:00
3e034e38b2
Add constraint island discovery
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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
e4dddea42a
Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage.
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PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
2023-08-14 11:17:47 -07:00
a063e2f0ef
Add private functions and associated tests related to constraint island discovery.
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PiperOrigin-RevId: 553156672
Change-Id: Ifd73e3df443f7955359c5243d5f7756069335c05
2023-08-02 08:43:11 -07:00
82e85e24e5
Fix nv precounting bug for dense allocation in contact constraint.
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PiperOrigin-RevId: 545441998
Change-Id: I12951d9022d78838a67d8e1d9d80d41b73e7c29d
2023-07-04 07:26:49 -07:00
ac1f41160d
Add engine internal error macro mjERROR to prepend calling function to error function.
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PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
2023-06-19 03:29:31 -07:00
d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
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PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:40:20 -07:00
455b1cd2e2
Add spaces around comparison operators in engine source files.
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PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
2023-05-28 05:02:34 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
1d79657512
Fix out-of-bound read in mju_combineSparseCount.
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PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
2023-05-26 07:44:47 -07:00
9924cce4b7
Add nnz per row precount method for mju_sqrMatTDSparse.
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PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
2023-04-04 06:21:22 -07:00
b327058641
Avoid computing constraint Jacobian matrix supernodes when not using AVX.
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PiperOrigin-RevId: 521728016
Change-Id: I308e6283a6a1968a3d9946f04ba4367c50b1c63d
2023-04-04 04:52:49 -07:00
d6f2dd143d
Avoid variable name shadowing in all engine source files.
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PiperOrigin-RevId: 519179975
Change-Id: I2f9269cd88857b9e758c63978b20f9c9dd17207e
2023-03-24 10:33:42 -07:00
8696247f9d
Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%.
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PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
2023-03-18 13:04:14 -07:00
056e849273
Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices.
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PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
2023-03-15 06:56:16 -07:00
d3d789cf7d
Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated.
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PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
2023-03-09 13:51:27 -08:00
fd1070cf03
Delete remaining code related to now-removed distance equality constraint.
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PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966
2023-03-01 17:57:54 -08:00
50bebcb4ee
Precount number of non-zeros for constraint Jacobian sparse matrix.
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PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
2023-02-28 08:57:56 -08:00
90b5dd14ca
Fix issue where mj_addConstraint was writing values into efc_J_rowadr and efc_J_rownnz that are not needed.
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PiperOrigin-RevId: 512919818
Change-Id: I8ee7443a2bf2265934899673f8943a83cdd4ef69
2023-02-28 06:47:56 -08:00
5e989d18c3
Enable compiler errors for implicit switch case fallthroughs.
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Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.
PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
2023-02-10 03:49:00 -08:00
Alessio Quaglino