* Ensure compiler.usethread=0 is set before compilation in single-threaded WASM builds
* Explicitly enable exceptions for the single-threaded WASM module
* Test the single-threaded module in addition to the multi-threaded module in internal and external CI
* Consolidate wasm/tests/CMakeLists.txt into wasm/CMakeLists.txt, fixing the single-threaded benchmark test build which was missing shared linker flags
PiperOrigin-RevId: 901149728
Change-Id: If4946e29e5116610782d218906cf3f5940c1cdd0
ObjectManger now manages low-level filament Texture and
Material objects directly. Moves the IBL Texture to the
SceneBridge class.
PiperOrigin-RevId: 900626110
Change-Id: Idd39464bfb324188dd54975a500954d4ebb29006
If Renderer.__init__ raises before the rendering contexts are assigned
(e.g. width > offwidth raises ValueError, or MjrContext construction
fails), __del__ calls close() which accesses self._gl_context and
self._mjr_context unconditionally, raising AttributeError. This masks
the real __init__ failure with a noisy "Exception ignored in..." message
during garbage collection.
Pre-initialize both attributes to None at the top of __init__ so that
close() is safe on a partially-constructed instance. Add a regression
test that captures sys.unraisablehook and asserts that __del__ raises
nothing when __init__ fails via the width > offwidth path.
Fixes#3213.
The top-level CMakeLists.txt unconditionally added -pthread for all Emscripten builds, but PTHREAD_POOL_SIZE was only set when MUJOCO_WASM_THREADS=ON. This gave the ST build a live pthread runtime with zero pre-spawned workers, causing CompileMeshesAndTextures to deadlock when it tried to spawn a ThreadPool on the main thread.
Fix by making -pthread conditional on MUJOCO_WASM_THREADS. Without -pthread, hardware_concurrency() returns 0 and the existing nthread < 2 guards naturally select the serial compilation path.
PiperOrigin-RevId: 900191420
Change-Id: I0481b81fc6f7cccb52c7d7592dcf9dd317b5bad1
This change introduces `nflexstiffness` and `flex_stiffnessadr` to allow flex stiffness matrices to have sizes other than the fixed 21 per element. Higher-order flexes can now store larger stiffness matrices based on their number of nodes. The `flex_stiffnessadr` array provides the starting index for each flex's stiffness data within the `flex_stiffness` array.
PiperOrigin-RevId: 899632263
Change-Id: Ie49182c46c3777acf0c6b492345edfcf62fb5e44
Use an unlit material for decorative elements and do not render them
in the reflection pass.
PiperOrigin-RevId: 899560291
Change-Id: I3b035d556432c850ce8240e0c4c4c2d6645d7bf2
Instead, use a set of functions to create/update a Renderable
from an mjvGeom.
This completely isolates mjvScene/mjvGeom from SceneView,
making SceneView a more general purpose class.
PiperOrigin-RevId: 899475268
Change-Id: I48a3a45bc8fff3e1f514847c7a1ca8ab3a1ff16e
*** Original change description ***
Add protocols for authoring simulation environments. This is for preview only, we discourage users from using this in production code.
PiperOrigin-RevId: 899425542
Change-Id: Ifb6c5d3b762789d821bfa9826f5d6d983e8af7d3
This is an early upload of https://github.com/google/filament/pull/9867 and necessary material changes
Original PR commits:
FL0 materials are always compile via spirv-cross
postfx materials now support sRGB emulation in FL0
PiperOrigin-RevId: 899262890
Change-Id: I52c002d60790d84269674c1f0d0c5f7d6a58000c
This default forces users to use the `spec.assets` dictionary or to do other filepath gymnastics when loading URDF. Instead we encourage users to just modify file paths directly if necessary.
PiperOrigin-RevId: 899009853
Change-Id: I4bb84606a95b65be79ccc77ccbe78062d6de8773
Split up the Update function into parts and allow SceneBridge
to call them individually, passing in the ModelObjects or
ObjectManager as needed.
PiperOrigin-RevId: 898851732
Change-Id: I25c6bf920b85caa7b2ddee045475f11fb7a8bac8
This change disallows calling `mjs_delete` on an mjSpec that has been attached to another mjSpec via `mjs_attach`. Attempting to delete an element from an attached spec will now result in an error. The Python bindings for `mjSpec.delete` have been updated to raise a ValueError when this occurs.
PiperOrigin-RevId: 897266695
Change-Id: Ic0670125a3028191ec50eca890f02b5910ec8b03
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 897114719
Change-Id: Iee914cc5e05798186f384a67901f1cf86bc2f887
- Remove `lugre:viscous`, should now be added directly to actuator `damping`. Trying to do this for the user was incompatible with default inheritance (compounding instead of overriding).
- Move voltage limiting from the `saturation` to the `controller` attribute.
- Fix indexing issues in default inheritance.
PiperOrigin-RevId: 897087642
Change-Id: I5388c2633e15c7e223992e7eb5d6a28db75a6438
Matija Kecman