Current users only get a cryptic "Illegal instruction" crash.
Context: https://github.com/deepmind/mujoco/issues/611
PiperOrigin-RevId: 491705647
Change-Id: I1285897a36e858300ee3d125957e90754be9a7f7
This helps distro packagers avoid having to create a directory with the generic `plugin` name in system locations.
Context: https://github.com/deepmind/mujoco/issues/552
PiperOrigin-RevId: 489011386
Change-Id: Ie9f1748cbb4f2b9dc8c328064caaeb50c88fdec3
- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples).
- `<size>` top-level section does not get written if empty.
PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
Since upgrading to Clang 15, abseil fails to build, because of abseil/abseil-cpp#1201.
PiperOrigin-RevId: 486190797
Change-Id: Ibaa1c03b8d21ae4a83c3825c8d56363aa2f89505
- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.
- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.
- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).
- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.
PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
Also update the README banner so that the background grid lines scale more reliably to different screen PPI.
PiperOrigin-RevId: 473598837
Change-Id: I43434b35333714922128f8fd625aa6eb62521a7f
- Improved time-sync logic readability in `PhysicsLoop`.
- Fixed unattainable condition for breaking from stepping loop if data was reset.
- Added measurement of actual real-time tracking.
- Moved slowdown overlay to top left.
- Report slowdown as % of real-time, rather than fraction.
- Report actual slowdown if different than requested (very small timestep, PhysicsLoop cannot keep up) by more than 10%.
- Replaced slowdown increments of 2 with decimal-rounded increments of 10^(1/10). This is a finer-grained scale (approximately 3x as fine) and well suited for decimal percentage representation.
- Maximum slowdown increased to 1000.
- Added `Simulate.refreshrate` with a default of 60Hz, in case videomode refreshrate is 0 (can occur e.g. when forwarding over X11).
- Remove realtime reporting from regular info overlay.
- Various cleanups.
PiperOrigin-RevId: 471547481
Change-Id: Idd2514a4defb1dc431617f3a515cc747c4fd8971
This allows us to use GLFW without needing to introduce a link-time dependency on the library, which in turn enables us to get GLFW through Python.
PiperOrigin-RevId: 470100999
Change-Id: I27c84ad3310afdbebd582ab0033b6a963ba6307e
- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.
PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
Fix name of glew library
Move simulate to new directory and refactor to use C++ conventions
Wrap simulate in mujoco namespace
fix namespaces, convert struct to class, use std::lock_guard
use GetMutex to better handle destruction ordering
rename mjSimulate to Simulate
nit: space before public and typo
move startup print
use nullptr instead of NULL
use GetInstance() to get simulate object
convert init to default constructor
Kyle Bayes