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
Root cause: resources and default mount stored pointers tied to the public mjVFS object address. If mjVFS was moved after initialization, resource close/read paths could dereference stale pointers and crash.\n\nThis change stores a stable internal mjVFS handle inside VFS and points resources/default mount to that stable handle. It also tracks the current public owner pointer and rebinds it in Upcast so lifecycle operations (including self-destruct cleanup) target the current mjVFS address after moves.\n\nAdds regression test UserVfsTest.MoveVfsAfterOpenResource, which opens a resource, moves mjVFS, then reads/closes/deletes successfully.
Viscous pause is like pause but the simulation continues with zero gravity, high viscosity and passive springs disabled. It is useful to move things like cabinets with shelves---just move the shelf and the drawers come along as well.
* Updated the simulation control widgets
* Added Ctrl-space shortcut to toggle play/viscous pause
PiperOrigin-RevId: 869810053
Change-Id: Icf649e1f2631c2a64a5d2f25af9537b6a12bdf2c
* Replace various MJOPTION_ macros with a single MJOPTION_FIELDS.
* Use XVEC macro to denote vector members where there is a mixture of
vector and scalar members in a given struct type.
* Split up MJVISUAL_FIELDS into separate macros for each substruct.
* Modify engine_print.c and Python bindings struct.h/cc to use the
new X macros.
PiperOrigin-RevId: 869760513
Change-Id: Idac4fe9aa99f0258e7c79802ca9023a0d4486e2d
Most "classic" objects looked washed out. To "revert" to the old look, you can add the following to your XML files:
```
<custom>
<numeric name="filament.phong.specular_multiplier" data="0.1"/>
<numeric name="filament.fallback.scene_light_intensity" data="100000.0"/>
<numeric name="filament.fallback.environment_light_intensity" data="10000.0"/>
</custom>
```
PiperOrigin-RevId: 869725829
Change-Id: Icab0cedaa27915400497745db886c393709c14b1
The derivatives of actuator velocity with respect to generalized velocities were incorrectly computed when the actuator force was limited by `forcerange`. This CL adds a check to zero out these derivatives when the actuator force is at its upper or lower limit, as the force is no longer a function of velocity in this clamped state.
PiperOrigin-RevId: 868818281
Change-Id: I89742a3f04989dd11f9cfada107200015b1472a7
Replace dynamically-sized edge list with a dense ntree×ntree adjacency matrix for deduplication and a flat CSR representation.
PiperOrigin-RevId: 868728432
Change-Id: Iebe97a0870740e5465549b967bbde0c81e658269
On Windows, _aligned_malloc(0) returns NULL, which MuJoCo interprets as a fatal out-of-memory error. This causes crashes on models with empty arrays.
Ensure a minimum allocation of 64 bytes for any 0-sized request.
Fixes#2992
- Guard #define stat _stat with !defined(__MINGW32__) to avoid conflicts with MinGW's own POSIX-compliant stat implementation
- Replace _MSC_VER check with defined(_WIN32) for localtime_s to allow all Windows compilers including MinGW to use the secure function
Fixes#3038, #3037
The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.
PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b
The implicit integrator was not correctly accounting for the off-diagonal coupling terms between flex and non-flex (parent) degrees of freedom in the mass matrix. This change extracts these coupling terms during the factorization step and applies a correction to the flex forces before solving for the flex accelerations, ensuring that the parent accelerations influence the flex dynamics. A new test verifies that the implicit integrator now matches Euler for small timesteps in a model with flex-parent coupling.
PiperOrigin-RevId: 868098126
Change-Id: Ia8cccd7dd428cd0c0898e1663a7e41017a2311b2
FuseStatic deletes static (joint-less) bodies and reassigns their
children to the parent body. Geoms and sites were reassigned, but
cameras and lights were not, leaving dangling body pointers that
crash in mjCCamera::Compile() / mjCLight::Compile().
Add camera and light reassignment in FuseStatic and FuseReindex.
Alessio Quaglino