The code for the timeline scrubber widget has been moved from `App::ModelOptionsGui` into a new method `App::TimelineScrubberGui`. This new method is now called in both `App::ModelOptionsGui` and `App::ToolBarGui`, replacing the thread count slider in the toolbar.
PiperOrigin-RevId: 945565640
Change-Id: I6d5cab0b2397e8b32a2b335e8a709bb9e19bdb48
Extend mjpResourceProvider with an optional write callback (write)
so that mj_encode, mj_saveXML, and mj_saveModel can write to any
registered provider.
PiperOrigin-RevId: 945202741
Change-Id: I37903425260932e555f4a8c2392c4ff8c2e6cc06
Introduces a new timeline widget in the Studio UI, replacing the previous integer slider for simulation history. The new widget displays the current and maximum simulation times, formatted with appropriate units (µs, ms, s), alongside the actual step number, and allows scrubbing through the history via a custom-drawn spine and knob.
This change also modifies the history recording logic to record every solver step rather than only every rendered frame. This enables the step forward/backward buttons to navigate exactly 1 solver step at a time.
This change also fixes `SimHistory::SetIndex()` range checks in `sim_history.cc` to clamp `offset_` against `1 - size_` (`Size()`) rather than total vector capacity (`history_.size()`).
PiperOrigin-RevId: 944671699
Change-Id: Iaa34668a1e257e5c0c1840c827370d81c4935b3d
The flexcomp compiler previously rejected pins on dim-2 flexes with
bending (elastic2d bend/both). Allow them: mj_flexPassiveBend treats a
pinned vertex (body without 3 free slide dofs) as static -- zero
velocity, and no bending force applied to it (the reaction is carried
by the pin) -- while its position still enters every neighbor's
bending force, which is exactly what the pin constrains.
PiperOrigin-RevId: 944410969
Change-Id: Ib0a69c8d5fb6f64d3e2a76af3b6b2c7be1898191
Testing on 50 million random doubles we have branchless clip is 1.14x faster than the branched version and branchless sign is 2.27x faster than the branched version.
PiperOrigin-RevId: 943812426
Change-Id: If8003a602365601a31bec1d8b080c44d16000a4e
On Windows, std::filesystem::path::string() returns backslashes while
zip entries use forward slashes. This caused lookup mismatches making
MJZ decoding fail on Windows with 'could not decode content'.
Use generic_string() (which always returns forward slashes) for all
path operations used in zip entry lookups, and normalize the archive
name at construction time.
PiperOrigin-RevId: 943538265
Change-Id: I50cafff82fd7f5f315ccfc890f660e138e4448a2
Deletes mj_factorI_legacy and mj_solveLD_legacy from the engine and headers.
Updates factorI, solveLD, and inertia benchmarks to remove legacy targets
and only benchmark CSR.
Rewrites engine_core_smooth_test to verify CSR solver against mj_mulM
instead of legacy solver.
PiperOrigin-RevId: 942507341
Change-Id: I4281decb7018cfa3e46cb446efd5fe1179f6ae1f
The `body_sameframe`, `geom_sameframe`, and `site_sameframe` flags are now recomputed within `mj_setConst` based on the current model geometry. This allows these flags to be updated if the model's body/geom/site frames are modified after the initial compilation. Tests are added to verify the correct recomputation and its effect on forward kinematics. The compiler also checks that its initial computation matches the result of `mj_setConst`.
Fixes#3029, #1628.
PiperOrigin-RevId: 941758649
Change-Id: I7b995f8c67ad305bca5b52732436ba578c905d73
Undo mistaken auto-format of the schema table, revert it to be more human-readable.
PiperOrigin-RevId: 941628625
Change-Id: Ifc51996da9a7df9d1a03392a0ade256fb8b1c151
The line search now requires a negative cost (improvement) in addition to a small derivative to declare convergence, preventing premature termination when no actual improvement has been made.
Follows the proposal in github.com/google-deepmind/mujoco_warp/pull/1471
PiperOrigin-RevId: 941579503
Change-Id: I8fcd20f7b959e50d77cd5d6de0a3c6d95f86b9e1
Similar to LightManager, the RenderableManager manages
renderables based on an mjModel and its mjData.
PiperOrigin-RevId: 941510745
Change-Id: I97b44cc857f136aa7c90ceb85a42e299fc759b73
The `<attach>` element now supports a "frame" attribute, allowing users to specify either a "body" or a "frame" to attach to, but not both. The XML parser has been updated to handle this new attribute and the mutual exclusivity constraint.
PiperOrigin-RevId: 941245904
Change-Id: I4c0edeed5f3a9e456aed96c373b1647fe79841d9
The lazy init of log_config used a single atomic flag (env_checked) with
a load-then-store pattern, allowing two threads to both enter the init
path and concurrently write to the non-atomic log_config.topics field.
Replace with a two-phase atomic init: an atomic exchange on
env_init_claimed ensures exactly one thread enters the init, while
env_init_done (with acquire/release semantics) signals completion and
provides the happens-before edge that makes log_config writes visible to
other threads.
Also adds mj_atomic_exchange_bool to engine_crossplatform.h (both MSVC
and GCC/Clang variants).
PiperOrigin-RevId: 941202181
Change-Id: I59b6801c7b4b8b0e1647d82d2aeb534a90fb66fb
StepControl methods SetSpeed, SetNoiseParameters, and SetPauseState now return a boolean indicating whether the state was actually changed. The GUI functions NoiseGui and StepControlGui also return a boolean reflecting if any parameters were modified. Noise parameters are now directly managed by StepControl rather than being stored in UxState. The StepControlEvent message has been expanded to include all step control parameters. Keyboard event handling has been slightly refactored to better align with event-based updates.
PiperOrigin-RevId: 940656342
Change-Id: I3701623a2fdcfc4c084b5db0ae19048669040de4
Also ensure material texture hashes are unique so that the material
cleanup works correctly.
PiperOrigin-RevId: 937206048
Change-Id: Ibed53457ee271f4faae3bcac5fb479b5ce9fc352
Yuval Tassa