Previously shell mode required cellcount=1 along at least one axis. This CL
adds support for cellcount > 1 in all three axes by pinning interior grid nodes
to the parent body and reconstructing their positions from boundary nodes via
Transfinite Interpolation (TFI).
PiperOrigin-RevId: 924314800
Change-Id: I8c2438f4866dd4133feed65f535a1ab69f0c9188
The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.
PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
Fixes#2313
This CL combines two complementary improvements to the Conjugate Gradient (CG) solver, significantly improving numerical precision, stability, and efficiency, particularly in single precision (float32).
1. Line Search Cost Evaluation Refactor: Previously, solver improvement was calculated by subtracting absolute costs: cost(alpha) - cost(0). In highly converged states or single precision, this is susceptible to catastrophic cancellation. We refactor PrimalSearch to compute the cost delta directly, dramatically improving precision.
2. Improved Solver Termination Condition: Near the float32 precision limit, line search deltas can occasionally be slightly negative due to numerical noise. Previously, any value below m->opt.tolerance (including negative values) triggered termination, halting the solver and locking in destabilizing steps. We update the termination condition to require positive improvement (0 < improvement < m->opt.tolerance), allowing the solver to continue iterating and recover stability.
Together, these changes yield substantial improvements, see reduced tolerances herein.
PiperOrigin-RevId: 924229669
Change-Id: Ic0bbefaed090f3a8b1e79ab8d45422c3e86fb56c
Also add MJTOL_SCALE to fixture to allow tests to be run with zero tolerance. This is useful when assesing the impact of code changes (A/B comparison of failure values)
PiperOrigin-RevId: 924219083
Change-Id: Ifdd09ac850904ca8dd79179930ce738a4b37d284
Two performance optimizations for interpolated flex objects:
1. Hoist loop-invariant stride calculations in `mju_cellLookup` out of nested loops.
This reduces multiplications from 16 to 6 (linear) and 54 to 12 (quadratic)
per vertex.
2. Extract and consolidate optimized 3D interpolation logic into a new
reusable utility `mju_evalBasisArray` in `engine_util_misc.c`. This function
uses nested loops and precomputed 1D shape functions to avoid expensive
dynamic `phi` calls and branching, and leverages stack-buffered outputs to
eliminate compiler pointer-aliasing barriers. We propagate this optimization
to both kinematics (`mju_interpolate3D`) and constraint setup
(`engine_core_constraint.c`).
Together these changes yield a ~50% overall speedup in `mj_fwdKinematics` for interpolated flexes with ~10k vertices in the collision meshes and ~10 nodes in the deformation grid.
PiperOrigin-RevId: 922198093
Change-Id: I9c804e65cd532e2f9ac6e9a71d01c30cd64186fa
Update Renderable so that it can switch its own draw states (material
instance, shadow casting, reflection textures, etc.) per render request.
This allows us to use the same Renderable with different effects from
different views within the same frame.
PiperOrigin-RevId: 922102817
Change-Id: I1cf02fddb7a00345a741db1bee88e716517765f4
- C++ Platform UX: Added a "Copy Camera" button to copy XML camera definitions to clipboard.
- C++ Platform UX: Extracted `SetSpeedIndex` and `GetExpectedLabelWidth` into reusable platform helpers.
- C++ Platform UX: Fixed combo box widths and removed auto-hide tab bar flag from dockspace.
- C++ Studio App: Deduplicated label width and speed index logic by adopting platform helpers.
- C++ Studio App: Updated the toolbar layout to use a 2-column table.
- Python Bindings: Added pybind definitions for `set_camera_index`, `set_speed_index`, and `camera_to_string`.
- Python Studio App: Aligned toolbar UI with C++ using a 2-column table and fixed immediate theme switching.
- Python Studio App: Added a Help menu displaying the MuJoCo version and Stats toggle.
- Python Events: Added `-`/`=` shortcuts for simulation speed and `Esc`/`[`/`]` shortcuts for camera selection.
PiperOrigin-RevId: 922097319
Change-Id: Iec74afe37bf5c7a1ebf1cab4141e47fff5fe9274
The MSVC fallback path in safeAddToBufferSize() performed unchecked
arithmetic (type_size*nr*nc) on attacker-controlled values read from
.mjb binary model files. This could cause integer overflow, leading
to an undersized heap allocation followed by a heap buffer overflow
when data is copied into the buffer.
The fix adds manual overflow detection using SIZE_MAX/INTPTR_MAX
comparisons, matching the behavior of the existing __builtin_*_overflow
path used on GCC/Clang.
Also adds a regression test that crafts a binary model buffer with
overflow-inducing size fields and asserts safe rejection.
The normal component of the tactile sensor now reports the maximum penetration depth at each taxel, instead of a derived normal force. The depth is negated so that positive values indicate penetration.
PiperOrigin-RevId: 921980899
Change-Id: Ide4103c0aff465e25a81cfdda650f6a0e2da9e0b
Per-parameter scaling via change of variables z = x / D. Supports
'jac' (adaptive D_i = 1/||J(:,i)|| per iteration, matches scipy's TRF),
explicit array, or a positive scalar. Default 1.0 is a no-op.
The prefetcher asks mju_getXMLDependencies for the transitive asset
list, fetches every URL with Promise.all, and primes the bytes into the
WASM-side FetchCache. When the compiler runs, every resource it opens
is already in memory. Cold-load on a typical Menagerie model drops from
~9 s to ~2 s.
The function called tinyxml2's LoadFile directly, which only works on
the OS file system. Reading through mju_openResource lets it work
against any registered backend (VFS, HTTP, github:, ...).
Tarik Kelestemur