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160 Commits

Author SHA1 Message Date
Alessio Quaglino d81ab17bf5 Cache SDF octree. 
PiperOrigin-RevId: 781500550
Change-Id: I0077d41f13be0243bff292534cc6bce2bdc1caa4
 2025-07-10 06:05:28 -07:00
Alessio Quaglino 2d69610abd Use the geom frame for SDF collisions. 
Also disables mesh reorientation for meshes autogenerated with marching cubes from analytic SDFs.

PiperOrigin-RevId: 781487195
Change-Id: I36b66384f240a764823c489f78f22ba9fe32f15f
 2025-07-10 05:16:51 -07:00
Alessio Quaglino cef02fabea Remove sdflib plugin and move interpolation to engine_collision_sdf. 
Before:
```
 Simulation time      : 1.71 s
 Steps per second     : 5854
 Realtime factor      : 11.71 x
 Time per step        : 170.8 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

After:
```
 Simulation time      : 1.41 s
 Steps per second     : 7093
 Realtime factor      : 14.19 x
 Time per step        : 141.0 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781087896
Change-Id: Iaf69dccc5e95af5bac862344683c74f962162186
 2025-07-09 09:29:47 -07:00
Alessio Quaglino 96118da08b Move SDF precomputation to the mujoco compiler. 
Before:
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

After:
```
 Simulation time      : 1.71 s
 Steps per second     : 5854
 Realtime factor      : 11.71 x
 Time per step        : 170.8 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
 2025-07-09 08:57:09 -07:00
Alessio Quaglino b81f1db8af Replace SdfLib with linear octree interpolation of TriangleMeshDistance. 
Temporary changes to the octree:
- Changed frame from mesh to geom

Before change (tolerance 1e-3):
```
 Simulation time      : 2.34 s
 Steps per second     : 4275
 Realtime factor      : 8.55 x
 Time per step        : 233.9 µs

 Newton iters / step  : 2.26
 Contacts / step      : 3.69
 Constraints / step   : 14.76
 Degrees of freedom   : 12
 Dynamic memory usage : 0.7% of 14M
```

After change (6 octree levels):
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
 2025-07-09 06:21:41 -07:00
Alessio Quaglino 594e17074a Replace name attribute with setters and getters in the C API of mjSpec. 
PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
 2025-07-03 02:30:56 -07:00
Alessio Quaglino 5c1f1f9dba Add octree to meshes of SDF geoms. 
PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
 2025-06-30 10:50:15 -07:00
Alessio Quaglino 7edbdd0ad6 Remove the Shell plugin and integrate it into the engine. 
PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
 2025-05-19 10:51:25 -07:00
Alessio Quaglino 71bdd915f7 Move bending stiffness from plugin to the compiler. 
PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
 2025-05-14 07:39:24 -07:00
Alessio Quaglino 34e8ff1aad Add flex edge flap connectivity to mjModel. 
PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
 2025-05-14 02:50:37 -07:00
Alessio Quaglino ad80a4625b Always generate a BVH in flex. 
The BVH is used also for computing normalized vertex coordinates in the trilinear interpolation, so we need to compute it also when the flex cannot collide.

PiperOrigin-RevId: 756349244
Change-Id: Ib397c472e31251df5a7ea85850d83a62f3b2c949
 2025-05-08 09:46:47 -07:00
Kyle Bayes f4774a5449 Fix bug in cached meshes where convex hull was missing. Previously if a mesh was copied from the cache it would not have its convex hull if the original mesh that was cached didn't previously compute it. 
Fixes #2609

PiperOrigin-RevId: 756223337
Change-Id: I54705456636c270607a17340b249047e0df75d0b
 2025-05-08 02:42:15 -07:00
Yuval Tassa 205599ac1a Cosmetic improvements to src/user/ source files. 
PiperOrigin-RevId: 737930914
Change-Id: I1cc254d420fcdf0c42ec3d2f601e5a02d925d958
 2025-03-18 02:59:12 -07:00
Kyle Bayes b10b0b7055 Cache all processed mesh data. 
PiperOrigin-RevId: 737576455
Change-Id: I87628ce7842d0d7d0e7fe02eb9afb2ddefa68ff8
 2025-03-17 05:20:41 -07:00
Kyle Bayes 1a67aaf1b7 Remove pointers from BVH for caching in mjCMesh. 
PiperOrigin-RevId: 736849392
Change-Id: I684cca918c65718b29a1bcb41ecd6bad8d88f8f9
 2025-03-14 07:01:18 -07:00
Kyle Bayes 995bbf0f0f Refactor and fold in code into Process in mjCMesh for caching. 
PiperOrigin-RevId: 736052216
Change-Id: Ia0e055fd99ce429b9dee97f3f9effbf2fa1aa4f9
 2025-03-12 02:12:53 -07:00
Alessio Quaglino 14dc6fd33b Do not use inertia during mesh compilation. 
Fixes #2479.

PiperOrigin-RevId: 735387473
Change-Id: Ib241f2a0efc100bbe2cec24e0399bfcc87268094
 2025-03-10 08:35:33 -07:00
Alessio Quaglino adc3cc06fa Change private->public spec for error checking in mjCSkin recompilation. 
Fixes #2485.

PiperOrigin-RevId: 735323174
Change-Id: Ifcc2055f6a74afaa18ad5228633f36f760adcffd
 2025-03-10 04:19:40 -07:00
Kyle Bayes 4d024f9421 Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation. 
PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
 2025-03-07 05:17:49 -08:00
Alessio Quaglino e04e0e5c3d Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency. 
PiperOrigin-RevId: 734153759
Change-Id: Ic17d7c8a6e53fba04da511d405c815a723c5e55b
 2025-03-06 08:28:36 -08:00
Alessio Quaglino 7651cb1b33 Copy texture coordinates from OBJ into flex. Fixes #2464. 
PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
 2025-02-28 06:04:19 -08:00
Kyle Bayes ae1c3b7ec0 Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom. 
PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
 2025-02-24 08:14:04 -08:00
Tom Power 89253d957d Changes to inertia inference from meshes. 
PiperOrigin-RevId: 726051033
Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
 2025-02-12 07:43:13 -08:00
Copybara-Service cb1696eb34 Merge pull request #2390 from talregev:TalR/mesh 
PiperOrigin-RevId: 723916727
Change-Id: I0abb0a12121c9eb291ccbc6afa0b4117bd389956
 2025-02-06 06:46:40 -08:00
Tom Power 3d9946cff3 Improve mesh processing readability 
PiperOrigin-RevId: 721524528
Change-Id: I3af4e25815cbc7517b772826af7d929ea93f8164
 2025-01-30 14:41:21 -08:00
Alessio Quaglino 7cdf180641 Introduce trilinear flex parametrization. 
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.

On an 8x8x8 cube, the performance using DOFs at all vertices is

```
 Simulation time      : 18.74 s
 Steps per second     : 533
 Realtime factor      : 0.53 x
 Time per step        : 1874.4 µs

 Contacts per step    : 114.88
 Constraints per step : 3322.51
 Degrees of freedom   : 1536
```

With the new implementation, it is the following:

```
 Simulation time      : 1.82 s
 Steps per second     : 5507
 Realtime factor      : 5.51 x
 Time per step        : 181.6 µs

 Contacts per step    : 38.84
 Constraints per step : 155.36
 Degrees of freedom   : 24
```

PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
 2025-01-29 09:38:22 -08:00
Tal Regev fd568d68d4 Generalize mesh object to be the type of tiny_obj_loader. 2025-01-28 11:33:29 +02:00
Alessio Quaglino c2138c3fb0 Do not copy the spec during attach. 
Use a reference count for managing the memory.

PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
 2025-01-16 03:53:17 -08:00
Alessio Quaglino f7d38dac62 Add recursive call to FindSpec for handling nested attachments. 
PiperOrigin-RevId: 713629578
Change-Id: I23efa5a86bac187fc42eb955d29cc03cbacfd9e0
 2025-01-09 04:56:12 -08:00
Alessio Quaglino 203602b01f Move computation of flex_vert0 to user_mesh.cc. 
This removes the dependency of flex_vert0 from mj_flex and mjData.

PiperOrigin-RevId: 700382297
Change-Id: I0b6d023c2e1ba14fa92417b65bfc288f37c223ae
 2024-11-26 10:17:16 -08:00
Alessio Quaglino 45f908c165 Enable attaching plugins not instantiated in the extension section. 
Fixes #2217.

PiperOrigin-RevId: 695766524
Change-Id: I534b63400810bd6ef888f39f6665213280fd93ac
 2024-11-12 09:36:06 -08:00
Yuval Tassa 7dc8aef807 Remove the convexhull compiler option. 
PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
 2024-10-27 04:31:10 -07:00
Alessio Quaglino 159f23e6b4 Remember compiler options during attach. 
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
 2024-10-24 08:31:15 -07:00
Alessio Quaglino b598d79b3f Move mesh inertia specification from global <compiler> to <asset/mesh>. 
Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)

Fixes #2152

PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
 2024-10-23 07:06:31 -07:00
Alessio Quaglino 1f9dca8bc4 Do not expose plugin_slot. 
PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
 2024-10-07 09:38:01 -07:00
Alessio Quaglino 66faba9aa5 Avoid changing semantics of mjsPlugin.name across XML sections. 
The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.

PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
 2024-10-07 07:57:03 -07:00
Alessio Quaglino dfe8e45101 Namespace plugin instances when attaching. 
Fixes #2112.

PiperOrigin-RevId: 681045462
Change-Id: I2c945c5405fcb91e0f9a1b0b1e94f68d174c84ee
 2024-10-01 09:14:37 -07:00
Alessio Quaglino 1eb6fc2285 Disallow using elasticity and edge constraints at the same time. 
Fixes #2084.

PiperOrigin-RevId: 678614880
Change-Id: I44eead3dc4edf82d725a3063b927a421c660721a
 2024-09-25 02:56:20 -07:00
Yuval Tassa 5219893813 Replace mjQUICKSORT with std::stable_sort in user_mesh.cc 
PiperOrigin-RevId: 677864209
Change-Id: I1cca8e1ae8c84e652b12c24cfddfbca97d8c6841
 2024-09-23 11:06:46 -07:00
Alessio Quaglino 0ba11b9623 Add plugins list to mjSpec Python API. 
Fixes #2061.

PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
 2024-09-23 06:13:42 -07:00
Alessio Quaglino f4381e12a2 Delete plugins when their corresponding objects are deleted, if their instance belonged the object. 
Fixes #2061.

PiperOrigin-RevId: 676402701
Change-Id: Ia4807d57a3763e2100702b7e7ec96c300d0a9cfb
 2024-09-19 07:21:42 -07:00
Alessio Quaglino aca4b3324d Resolve default asset names while attaching a spec. 
PiperOrigin-RevId: 676053538
Change-Id: I717b87be4bc18a5d9f8e5f2dc071bd93409eea81
 2024-09-18 10:58:12 -07:00
Alessio Quaglino 66a9cacc90 Move elasticity force computation to the engine. 
PiperOrigin-RevId: 676028775
Change-Id: I994e3dda8d6470815763c04df0c276e265aa1f54
 2024-09-18 09:55:00 -07:00
Alessio Quaglino ddbc083810 Move elasticity computation to mjCFlex. 
PiperOrigin-RevId: 675949380
Change-Id: Ia48f4fd6ae1ede206ccacd1205914e7e4b3c7aec
 2024-09-18 05:23:10 -07:00
Alessio Quaglino 31abd7900a Add edge ids to flex elements in mjModel. 
PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
 2024-09-16 06:58:10 -07:00
Alessio Quaglino b15de2c951 Add elasticity parameters to the schema. 
PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
 2024-09-16 05:56:36 -07:00
Alessio Quaglino c77babe046 Fix a bug in MuJoCo's user_mesh.cc that caused meshdir_ to be overwritten when a model was loaded with a nested model. 
PiperOrigin-RevId: 675092713
Change-Id: Iad6336141749510bf5544cab9c06533ee1589c08
 2024-09-16 04:22:13 -07:00
Yuval Tassa fd17b2144a Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.
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Also, minor type-related fixes in `user_mesh.cc`.

PiperOrigin-RevId: 675082329
Change-Id: Icc5eb9f9eb4fbf09b08d7d4b9b2929f414e4a75c
 2024-09-16 03:40:17 -07:00
Alessio Quaglino 567793c26f Store model paths in assets. 
This enables to preserve the paths of the child spec during `attach`.

PiperOrigin-RevId: 673349237
Change-Id: Ibf075c7ec037ff5d540bc60d6e77c12f60269791
 2024-09-11 05:20:14 -07:00
Michael Ahn 9924d9ca89 Fixed incorrect mesh face circumradius calculation 
- In 8e2f830, this was changed from `mju_norm3` to `mjuu_normvec`, but the
  latter will mutate its input to be normalized instead of just
returning the norm (the former was likely mistaken as `mju_normalize3`
which does mutate its input).
 2024-08-15 20:53:57 -07:00