cc85a38f3c
Add mjm_attachBody to the C API.
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PiperOrigin-RevId: 617207000
Change-Id: I1fe59ba0d79938a4a383b115997c31dd6c71b8e5
2024-03-19 10:01:00 -07:00
372aa021d0
Add copy constructor and assignment to mjCModel.
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PiperOrigin-RevId: 616850780
Change-Id: I7fedab2efa2a90fd7ce952eac4e195f77c5ff5bc
2024-03-18 09:25:27 -07:00
de918a8b2d
Small cosmetic fixes to MakeBVH.
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Remove the index member of BVElement, since it's redundant for the purpose of sorting. BVElement is now 32 bytes instead of 40, which should make things a bit better, as this data gets moved around during MakeBVH. Unfortunately, this has no measurable effect on the benchmark.
PiperOrigin-RevId: 616806520
Change-Id: I3b8a28c42a4a21dc25985e63ac57764fdb669afa
2024-03-18 06:19:33 -07:00
c5aa22b177
Speed up MakeBVH.
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1. Avoid creating unnecessary temporary vectors for the left and right sides of the recursive call, since std::nth_element already splits the array in the right way.
2. Filter contype and conaffinity before calling MakeBVH. This only affects the top level of the MakeBVH recursion.
3. Avoid repeatedly computing mju_rotVecQuat for each element at each nesting level.
This is roughly a 2x speedup.
PiperOrigin-RevId: 616152673
Change-Id: I6ce7d99cd4a923c43156beb3f2493c649602260e
2024-03-15 09:24:40 -07:00
bda03af49a
Add childclass support to frames.
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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
693e3c66c8
Add copy constructors and assignments to user_objects.
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All of the constructors and assignments operators are declared by this CL, but only those that are currently used are implemented here.
PiperOrigin-RevId: 615369559
Change-Id: I9f8cc4a7cd2070362baba04f2af4c5567a696596
2024-03-13 04:50:05 -07:00
c418139fec
Add copy constructor to mjCBody.
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PiperOrigin-RevId: 615050891
Change-Id: I420e19a0444e93e5ec99da10f5cc20b429802d3e
2024-03-12 08:33:35 -07:00
8413a615d7
Add copy constructors to body subelements.
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PiperOrigin-RevId: 614665384
Change-Id: I1ad2b644cf9816fb9490b5634c16e95f360a8684
2024-03-11 08:00:10 -07:00
9ac048e262
Add recompilation test to user_api_test.
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PiperOrigin-RevId: 613192683
Change-Id: Ibb44e1c2d63ac0afb7b5f3a15dff26378deb6c82
2024-03-06 06:27:28 -08:00
1f2d673c7b
Add missing global fields to mjmModel.
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PiperOrigin-RevId: 610415124
Change-Id: I07f284804bf73cb67703597973b50b8c00ea8deb
2024-02-26 08:25:08 -08:00
c6a41fbfe6
Copy default spec before assigning defaults.
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PiperOrigin-RevId: 609766747
Change-Id: I79ebff62928ac2ffa5133020ee8bd001b68cdcd3
2024-02-23 10:24:13 -08:00
c248beb7e2
Remove name and classname from mjmWrap.
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PiperOrigin-RevId: 609563968
Change-Id: Ic69b95412ec5914fb5a8dcd134c7e6e733bc05b0
2024-02-22 18:14:33 -08:00
0ae9ba37f9
Replace PointToLocal with operator overload in mjCDef.
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PiperOrigin-RevId: 609376948
Change-Id: Id69909d06ab48824a9cbe0d5a305e8f8b72a193d
2024-02-22 08:12:52 -08:00
5fe3e169ab
Remove mjm_finalize.
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PiperOrigin-RevId: 609284351
Change-Id: I066332784d8210de6fec5aa718e097c9ef67903c
2024-02-22 01:27:06 -08:00
042760eba8
Add compiler settings to mjmModel.
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PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1
2024-02-21 01:58:22 -08:00
78dc5aee9f
Remove mjCPlugin from xml_native_reader.
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PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
2024-02-20 03:46:42 -08:00
b77dfc683a
Use OnePlugin for parsing Composite and Flexcomp plugins.
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PiperOrigin-RevId: 608265172
Change-Id: I053441a9e534d81c4847ad60fe4a3f7dce87350c
2024-02-19 02:02:29 -08:00
05150546e3
Add inheritrange attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
2024-02-16 04:42:44 -08:00
414a67640a
Add mjmDef to C API.
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PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
2024-02-15 06:17:58 -08:00
6f958bc404
Add mjmSkin to C API.
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PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
2024-02-15 05:09:10 -08:00
ddabfb9b6a
Clean up handling of auto-limits.
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PiperOrigin-RevId: 607266967
Change-Id: Iec8332cc8467ea3c2dc046acf87d221b5af67259
2024-02-15 02:43:53 -08:00
80a986c0f5
Add mjmBodyPair to C API.
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PiperOrigin-RevId: 606997065
Change-Id: Iefc2dff6ae942ce93ca83ec5f5fe9d7ae8bb6a40
2024-02-14 08:40:05 -08:00
c9e7586499
Add mjmHField to C API.
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PiperOrigin-RevId: 606933108
Change-Id: I21c895ed3e137dab8f57e2d0bcfb558aae2b971a
2024-02-14 04:12:29 -08:00
2ee8a4dabd
Add mjmNumeric, mjmText, mjmTuple, mjmKey to C API.
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PiperOrigin-RevId: 606919327
Change-Id: I477f6cd8beefcb3962238722565e3b398b73446c
2024-02-14 03:10:38 -08:00
266161ee4c
Convert mju_openResource to write warnings to a given error string.
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PiperOrigin-RevId: 606907392
Change-Id: Ic70e980aa9ba2bdbe1787773f51749b34f74afed
2024-02-14 02:17:40 -08:00
9ecd700923
Add mjmMesh to C API.
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PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
2024-02-13 09:09:59 -08:00
06505f49f9
Add mjmTexture to C API.
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PiperOrigin-RevId: 606543622
Change-Id: I2db743c1c40116f0503329fb1d004d9b041e83e7
2024-02-13 02:09:39 -08:00
13d6eeacdd
Add mjmPair to C API.
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PiperOrigin-RevId: 606274243
Change-Id: I15e2a38096a61bc1377a666c96113ae20ce3ed59
2024-02-12 09:25:33 -08:00
b224367a9b
Add mjmFlex to C API.
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PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
2024-02-12 08:48:11 -08:00
4e5b194e88
Add mjmMaterial and mjmFrame to C API.
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PiperOrigin-RevId: 606191307
Change-Id: Iaf43f81522029002b28bba14ea046b1c968ab2e7
2024-02-12 02:56:03 -08:00
3601026b1d
Refactor handling of auto-limits.
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PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
2024-02-10 22:01:13 -08:00
230f8c7b63
Increase maximum compiler error message length from 300 to 600.
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PiperOrigin-RevId: 605947931
Change-Id: I5564d0e2d6690ee75996a10e05cd6c7eca49f279
2024-02-10 18:51:44 -08:00
1bd6a32af2
Add mjmEquality, mjmTendon and mjmWrap to C API.
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PiperOrigin-RevId: 605853716
Change-Id: Ieb468cdec5a3032200cf1121960408a61bb08fc5
2024-02-10 03:30:31 -08:00
6fa139a693
Add mjmActuator and mjmSensor.
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PiperOrigin-RevId: 605600704
Change-Id: I0a2f5eb9d894c068ca9ee08940c752066021b6ec
2024-02-09 05:11:13 -08:00
e3cbad280c
Add mjmJoint, mjmCamera, and mjmLight to C API.
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PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
2024-02-09 04:44:58 -08:00
1fe258fb60
Add mjmGeom to C API.
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PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
2024-02-08 06:53:01 -08:00
e4fada1963
Correct use of uninitialized value and clean up FullInertia function
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PiperOrigin-RevId: 605049375
Change-Id: I7ffb6bd56b08111036e8490bf767fb9393499f13
2024-02-07 11:38:02 -08:00
8b17d260a3
Add user_init for setting default parameters.
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PiperOrigin-RevId: 604942840
Change-Id: I746ac7bb28f508b606bc0b8544136f523ce50d4c
2024-02-07 04:42:41 -08:00
a3e49d582e
Add mjmBody and mjmPlugin and their compiler C APIs.
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PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
2024-02-07 04:17:30 -08:00
b9c50ad79c
Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias.
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PiperOrigin-RevId: 604812870
Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
2024-02-06 17:21:31 -08:00
84f20ffb66
Automated g4 rollback of changelist 604607692.
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*** Reason for rollback ***
breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's
*** Original change description ***
Move fullinertia from mjCAlternative to mjCBody.
***
PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
2024-02-06 09:47:04 -08:00
737342bdfe
Move fullinertia from mjCAlternative to mjCBody.
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PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
2024-02-06 04:43:12 -08:00
01439f28b3
Add AddFreeJoint and remove isfree from AddJoint.
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PiperOrigin-RevId: 604597442
Change-Id: I2fe03cf0f9a59b425080cc5cc12b236fea9c020d
2024-02-06 03:49:49 -08:00
3b2dd06c54
Add compiler C API for mjmSite.
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PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
2024-02-06 01:50:47 -08:00
1ed8694dbe
Replace xmlpos with info string for mjCError.
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PiperOrigin-RevId: 603759456
Change-Id: I0d86d8e61e31a70da77169107268728d6c052778
2024-02-02 12:34:52 -08:00
b3f93d436b
Convert mjmStruct to a C-struct.
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PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
2024-02-01 06:57:47 -08:00
7a98038e88
Move mjCSite attributes to mjmSite struct.
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PiperOrigin-RevId: 603051589
Change-Id: I31eeeccffa15b96e7393b8e64f6be8c964fc5948
2024-01-31 08:07:48 -08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
2024-01-29 06:59:28 -08:00
1e2e0b3053
Remove all visual-only assets if discardvisual is selected, not only the geoms.
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PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
2024-01-15 06:39:25 -08:00
acf698e2df
Store pointer to index in mjCBoundingVolume if possible.
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PiperOrigin-RevId: 598592242
Change-Id: I8dc20a8d8a9a0e967688839fa22d75263c226958
2024-01-15 06:04:20 -08:00
Alessio Quaglino