1a9ca3239a
Replace comma operator with semi-colon.
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PiperOrigin-RevId: 865353927
Change-Id: I3498d8dc17f96caf8fa1975613ed6a815d2f20e7
2026-02-04 05:14:17 -08:00
a54c9f1d78
Specialized box and capsule collision primitives for stable 2D flex interactions.
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PiperOrigin-RevId: 864500749
Change-Id: I52aed6e29569477a8a0b6b5eb55ad483f1077c0e
2026-02-02 13:36:42 -08:00
815dbb996e
Use body_weldid to find the first movable body in a chain.
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PiperOrigin-RevId: 863774053
Change-Id: I8df96d5af7cc80d78a6f35560c3c31bed8be550e
2026-01-31 17:16:36 -08:00
19ff06155a
Refactor sensor computation into per-sensor functions.
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PiperOrigin-RevId: 862180688
Change-Id: I9f3f4da8ca8abed778965fd3970171276ee4570d
2026-01-28 05:04:59 -08:00
1d2d0b1c37
Remove batching optimization from GEOM* sensors
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PiperOrigin-RevId: 861938606
Change-Id: Ibb135a4d99cab9ce23a04f844f7c730e8f3b31c8
2026-01-27 16:44:10 -08:00
5fb47df197
Add mjData flags marking lazily evaluated pipeline stages
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PiperOrigin-RevId: 861763477
Change-Id: Ib613c56949264573a16306800658f868d2aa7665
2026-01-27 09:45:06 -08:00
ba32568138
Move flex vertex-edge adjacency to mjModel.
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PiperOrigin-RevId: 861717037
Change-Id: I2ad8090b0318cb04b43d13966cb42260c82ef930
2026-01-27 07:41:47 -08:00
e787f8717d
Change not required, issue was addressed in e48da1e38c
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PiperOrigin-RevId: 861680071
Change-Id: I374f091cd2686737e53234ca0edc8703897fbd4a
2026-01-27 06:01:14 -08:00
e933081ff1
Optimize flexvert Jacobian computation.
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The dense Jacobian arrays `J0_dense` and `J1_dense` are now zeroed only once before the vertex loop. Inside the loop, only the entries that were actually used are zeroed out after being added to the sparse Jacobian, allowing for efficient reuse of the dense arrays across all vertices.
PiperOrigin-RevId: 860799056
Change-Id: Ia61daae5eeb2f4dbc0c5d8c0064622a881e92b7a
2026-01-25 05:22:44 -08:00
e9c61694e1
Align flex_vert0 to the XY plane during model initialization if dim=2.
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PiperOrigin-RevId: 860435368
Change-Id: Ida616e1e69c224f7c0dbad2a10dd59e64cbadf49
2026-01-24 00:50:01 -08:00
769109630f
Move flexvert_J and flexedge_J sparsity pattern to mjModel.
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PiperOrigin-RevId: 860392796
Change-Id: Ie1264f2df5bf04b5794a3c7d8ad1a92524a6a567
2026-01-23 22:00:14 -08:00
7da271c687
Add vertex equality option.
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PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
2026-01-23 16:30:05 -08:00
a5de40b400
Replace mjtSize with size_t for size calculations in engine.
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Use unsigned size_t instead of signed mjtSize for size multiplications to avoid Clang's overflow-checking intrinsic. This is semantically correct as size calculations are inherently unsigned.
PiperOrigin-RevId: 860213177
Change-Id: I837aa6556335478969d4977492d0f231419f020a
2026-01-23 12:35:13 -08:00
30b903b6c0
Migrate mjModel size fields from int to mjtSize.
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This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
2026-01-23 09:41:49 -08:00
54dd623650
Add vertex-based flex constraints (dim=2).
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PiperOrigin-RevId: 859552050
Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
2026-01-22 04:54:53 -08:00
e56b31e98f
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
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PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
2026-01-14 11:18:41 -08:00
f3ad0eff2b
Fix body category check for mocap body descendants in visualization.
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PiperOrigin-RevId: 856179240
Change-Id: I29f4758fee0ff3b16d0b9f452c28e640b5558993
2026-01-14 06:06:55 -08:00
218226fc95
Breaking change: Add surface normal output to MuJoCo raycast functions.
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PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
2026-01-13 10:22:21 -08:00
a49576e469
Move flexedge sparse Jacobian indices to mjModel.
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PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
2026-01-13 07:33:17 -08:00
1cda1e7a8c
Prevent degenerate body inverse weights in constraints.
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Fixes #2472
PiperOrigin-RevId: 855223971
Change-Id: I646207f82353b7099aab9e220888fe11a4cd3d6d
2026-01-12 07:43:14 -08:00
cb9a9c159c
Remove getdir from mjpResourceProvider.
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All known implementations were effectively the same as the default fallback. It was just adding unneeded complexity. Removing this now will help with upcoming improvements to resource providers.
PiperOrigin-RevId: 855163273
Change-Id: I529fc18d0d03a8dc676c909ec9e4b1da1454d414
2026-01-12 04:07:42 -08:00
8abedf263e
Add checks for nullptr content_type and extension in mjpDecoder registration.
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PiperOrigin-RevId: 854365689
Change-Id: I025f5ab844dd4cf19f7d5f223430e27fd23a0924
2026-01-09 15:32:23 -08:00
1f4bb39b53
Fix typo in comment.
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PiperOrigin-RevId: 853703158
Change-Id: Ic123f9273b99eeede1d76d3da20b5b5e9f898dcd
2026-01-08 05:56:29 -08:00
8f5eb1e4f4
Improve bounds checking in engine_util_solve.c.
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Add checks to ensure `snprintf` does not write beyond the allocated log buffer size, preventing buffer overflows.
Fixes #2661 , #2673
PiperOrigin-RevId: 853643867
Change-Id: Ibdc47810158466dc961767284ac297df98916dac
2026-01-08 02:44:38 -08:00
fa044fe0e5
Use the word "primal" for things that relate to both Newton and CG.
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PiperOrigin-RevId: 852634373
Change-Id: I2c7641bb92d9c01252f861b9c36e72ef6ddc6e98
2026-01-05 23:56:57 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
9d646e6548
Extend rangefinder sensor to support cameras.
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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
2025-12-23 12:04:49 -08:00
4a871990e9
Fix mismatched signature in engine_ray.c
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PiperOrigin-RevId: 847834144
Change-Id: Ib42008880f495cf7f3b9e0fd2394a4df64c66ad4
2025-12-22 11:41:23 -08:00
b28b5db680
Add mj_multiRayNormal for multi-ray casting with normal computation (not exposed in public header)
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PiperOrigin-RevId: 847821078
Change-Id: I616441d3460406a92a10731d1a086af6163e96ad
2025-12-22 11:02:58 -08:00
7fddeeaff6
Minor fixes to mj_multiRay
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PiperOrigin-RevId: 847780959
Change-Id: I3588415f215bd5f1592bec6678a5bae45d5f0980
2025-12-22 08:52:36 -08:00
223ba99ec2
Add mju_rayFlexNormal (not exposed in public header)
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PiperOrigin-RevId: 847746174
Change-Id: Ia8f597d296bf6a3eed9bd48b1c39b2ff2b5fcf90
2025-12-22 06:49:22 -08:00
c7f5766345
Add frustum visualization for orthographic cameras.
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PiperOrigin-RevId: 847698917
Change-Id: I13633e8ba2d4718b127a5838c404ab74c6180e3d
2025-12-22 03:43:54 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -08:00
849a650143
Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup.
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PiperOrigin-RevId: 846754379
Change-Id: Ie599658db2907a26095072d97d07b99a693050dc
2025-12-19 08:57:45 -08:00
76e0a78b32
Use two-step sparse Cholesky in Newton solver.
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17% overall speedup for `100_humanoids.xml` as measured by `testspeed`
PiperOrigin-RevId: 846723342
Change-Id: Ibc41487bfc576c992f14853640d0b6000f5b47b2
2025-12-19 07:20:09 -08:00
45b0153067
Refactor sparse Cholesky factorization into symbolic and numeric phases.
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The new symbolic function is a generalization of the function it replaces. In this CL it takes two unused temp arrays. The actual change in behavior happens in the followup.
New benchmark test output below ("L" is 2 humanoids and 100 free objects, "XL" is 100 humanoids). Note that `symbolic` is only ever called once per Newton iteration, while `numeric` is sometimes called multiple times (when the rank-1 update fails), hence timing them separately is valuable.
```
Benchmark Time(ns) CPU(ns) Iterations
--------------------------------------------------------------
BM_old_L_mean 84382 84703 19547 11.807k items/s
BM_symbolic_L_mean 16345 16381 88414 61.055k items/s
BM_numeric_L_mean 10986 10994 120000 90.999k items/s
BM_old_XL_mean 1241208 1244212 1200 803.924 items/s
BM_symbolic_XL_mean 130917 131042 12720 7.631k items/s
BM_numeric_XL_mean 77004 76767 21116 13.029k items/s
```
PiperOrigin-RevId: 846704054
Change-Id: Ib0c365724d63bf2b81606ca5353756a6496c3a26
2025-12-19 06:11:55 -08:00
7190bd4912
Add flag for depth rendering.
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PiperOrigin-RevId: 846203691
Change-Id: I5ec494446bcfc1f7c81536a87dd24f9967973563
2025-12-18 04:36:26 -08:00
08b4b4144d
Add tests for mju_cholUpdate and mju_cholUpdateSparse.
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PiperOrigin-RevId: 845229292
Change-Id: Ide1406f85e49fe5a5b339bedff7ff6dd8099e5e8
2025-12-16 05:59:40 -08:00
2b9940bc67
Add private function mju_fillInt
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PiperOrigin-RevId: 845217293
Change-Id: I604372ab7ea7f4d47d9427d36dc8cd78e60d84ca
2025-12-16 05:16:50 -08:00
ccbfc6c8bf
Improve line search initialization logic and first Newton step acceptance.
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PiperOrigin-RevId: 844316808
Change-Id: I0a7639a486c75f122db7f8b8c0df42ef810f060c
2025-12-14 01:50:52 -08:00
e3a860de69
Update function signatures in engine_util_spatial.h to appease fussy GCC
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PiperOrigin-RevId: 843752024
Change-Id: I041efe6acc5a4a44488bb9ec09101681d47c37c5
2025-12-12 10:47:31 -08:00
499291e5c2
Fix aliasing issues in engine_core_smooth.c
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PiperOrigin-RevId: 843699660
Change-Id: I21d4ed09284624ce80fcd5b1d572b9084e95e1f1
2025-12-12 08:25:06 -08:00
157d261701
Fix aliasing issues in engine_collision_primitive.c
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PiperOrigin-RevId: 843665186
Change-Id: I76cd479991f6083495e7ad95c2f57a8ef8fde925
2025-12-12 06:36:34 -08:00
9fc37a3be4
Fix aliasing violations in engine_collision_box.c
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PiperOrigin-RevId: 843647612
Change-Id: If8ad12c058a30ec475b9eb47d315019edbb8a7bb
2025-12-12 05:35:42 -08:00
600f0f20bc
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
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PiperOrigin-RevId: 843635464
Change-Id: I3b0553eea98424ccc7def77e3769e2994f3e9014
2025-12-12 04:49:29 -08:00
1ff74ba810
Change the type of state signature arguments from unsigned int to int
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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
6bcb22730d
Minor clean-up of some visualization code.
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Move mjvGeom acquire/release into helper functions, where possible.
PiperOrigin-RevId: 842675435
Change-Id: Ie5aaf206927251e79b20cc4101a7017645d5dd4b
2025-12-10 05:09:53 -08:00
f06aa45ea6
Consolidate ray normal functions.
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PiperOrigin-RevId: 842300829
Change-Id: Ic5e921084710cb044a4f49ea9b566d277838aaa1
2025-12-09 10:36:10 -08:00
5b1fa666fb
Add mj_rayHfieldNormal (not exposed in public header)
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PiperOrigin-RevId: 842259581
Change-Id: I27d6c46024d55addbc22eed276331e2ef5acfa7d
2025-12-09 08:53:47 -08:00
Kyle Bayes