chenlin/Mujoco_WASM
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52 Commits

Author SHA1 Message Date
Alessio Quaglino e56b31e98f Reduce flexedge_J size from nflexedge x nv to the effective sparse size. 
PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
 2026-01-14 11:18:41 -08:00
Alessio Quaglino a49576e469 Move flexedge sparse Jacobian indices to mjModel. 
PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
 2026-01-13 07:33:17 -08:00
Yuval Tassa 1f4bb39b53 Fix typo in comment. 
PiperOrigin-RevId: 853703158
Change-Id: Ic123f9273b99eeede1d76d3da20b5b5e9f898dcd
 2026-01-08 05:56:29 -08:00
Kyle Bayes ae24034f24 Refactor hfield-convex collision code. This should be a no-op. 
PiperOrigin-RevId: 837045492
Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
 2025-11-26 03:26:56 -08:00
Yuval Tassa 769f37b653 Implement sleeping in engine 
PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
 2025-11-07 03:33:07 -08:00
Yuval Tassa edbdb5195c Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2 
PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
 2025-10-01 07:58:17 -07:00
Yuval Tassa 52da7586dc Clean up includes in src/engine 
PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
 2025-09-16 09:36:44 -07:00
Yuval Tassa b9900db00e Extract memory allocation functions and core utilities 
PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
 2025-09-01 03:38:25 -07:00
Yuval Tassa b092563cab Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING. 
PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
 2025-08-29 06:06:28 -07:00
Yuval Tassa 977f94e9df Delete sparsity structures from mjData, use the ones in mjModel 
PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
 2025-08-14 09:13:02 -07:00
Yuval Tassa 783e6499d8 Remove explicit mjModel dependency from engine_util_misc.c 
PiperOrigin-RevId: 780123513
Change-Id: I567e09db3cd13a93a4720742affb62b54bfa5426
 2025-07-07 08:33:19 -07:00
Yuval Tassa 2937efd5f2 Use sparse math in mjd_actuator_vel. 
PiperOrigin-RevId: 778924297
Change-Id: I221fb338c894f278e9f8401f25056539c62ccc65
 2025-07-03 10:52:54 -07:00
Yuval Tassa e42370c982 Avoid allocation and copying in implicit solver's addJTBJSparse 
PiperOrigin-RevId: 710679558
Change-Id: Ie75fdcd1127ff619c2668f568ab6a8a11e079dda
 2024-12-30 04:19:10 -08:00
Yuval Tassa 2691887500 Add engine-internal convenience macro for allocating typed arrays, improve error message. 
PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
 2024-12-11 09:04:44 -08:00
Taylor Howell a51f346059 Use sparse (uncompressed) actuator_moment in mj_transmission. 
PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
 2024-11-01 08:06:28 -07:00
Kyle Bayes 18682aac6a Fix function definition formatting. 
PiperOrigin-RevId: 691782530
Change-Id: Ib1611285e77e274b17074d5f09ede00cdc0c6f0f
 2024-10-31 06:45:41 -07:00
Yuval Tassa e4d4153352 Move sanitizer instrumentation to a separate header file. Fixes #2049. 
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
 2024-09-10 09:05:35 -07:00
Yuval Tassa 0bcaa85650 Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed. 
PiperOrigin-RevId: 663680592
Change-Id: I5d72888cab19dd5e51f552f63fe0968db93f5dcd
 2024-08-16 04:07:23 -07:00
Yuval Tassa a4bd2bec0a Skip disabled actuators in mjd_actuator_vel. 
Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.

Fixes #1838

PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
 2024-07-29 07:31:58 -07:00
Yuval Tassa 6067048537 Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3. 
These functions names and argument ordering are more consistent with the rest of the API.

PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
 2024-06-16 10:02:36 -07:00
Yuval Tassa dd2580e546 Add internal functions for 3x3 matmul. 
PiperOrigin-RevId: 616749614
Change-Id: I7f3ac2ffc826076b6c97424324f03ecd9ccd4655
 2024-03-18 01:44:10 -07:00
Yuval Tassa a14a584f1d Fix bug in muscle length-gain curve. Fixes #1342 
PiperOrigin-RevId: 599165049
Change-Id: Ic5ef77b4349a8a9c343eacfd781195bfebea9aca
 2024-01-17 07:20:01 -08:00
Alessio Quaglino 01a932e052 Fix flex constraint Jacobian for edges belonging to a single body. 
PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
 2023-10-20 02:49:34 -07:00
Yuval Tassa a9ee497e33 Add spaces around comparison operators. 
PiperOrigin-RevId: 573620198
Change-Id: Icf295cc0dd381a4a7f0e2c94f2e12b499193e862
 2023-10-15 07:40:10 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Yuval Tassa dfd48dd821 Replace mjMIN and mjMAX with mju_min and mju_max, where possible. 
PiperOrigin-RevId: 566602924
Change-Id: I2d24183d0d9df3e647bb2d7d7544473582f38128
 2023-09-19 05:40:41 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Yuval Tassa e4dddea42a Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage. 
PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
 2023-08-14 11:17:47 -07:00
Yuval Tassa 5cfbb6ac8b Add mjd_quatIntegrate, expose mjd_subQuat. 
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
 2023-07-07 05:33:24 -07:00
Kyle Bayes ac1f41160d Add engine internal error macro mjERROR to prepend calling function to error function. 
PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
 2023-06-19 03:29:31 -07:00
Yuval Tassa 455b1cd2e2 Add spaces around comparison operators in engine source files. 
PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
 2023-05-28 05:02:34 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Saran Tunyasuvunakool 55c7f45dc5 Fix sparse matmul logic in addJTBJSparse. 
Also rename arguments and loop variables in `addJTBJSparse` for additional clarity.

PiperOrigin-RevId: 534908360
Change-Id: I143ef5aef7ff90091369d408740f7f44d9e19378
 2023-05-24 11:02:35 -07:00
Yuval Tassa d82465d710 Fix use of uninitialised memory. 
PiperOrigin-RevId: 534783070
Change-Id: I4fddc983a8ac7213049366d909c57c303ab0e521
 2023-05-24 04:39:57 -07:00
Yuval Tassa 90813b8198 Add mjd_subQuat (private function) 
PiperOrigin-RevId: 529418945
Change-Id: I6764ae866b13482ef3aa951f427b58cae007c301
 2023-05-04 08:40:34 -07:00
Yuval Tassa 15ec12b296 Use mju_symmetrize in engine_derivative.c 
PiperOrigin-RevId: 519111361
Change-Id: I3125538dee70eebca7e1e9e7830bde7863be956f
 2023-03-24 04:39:00 -07:00
Yuval Tassa ce6c9053e2 Fix bug in engine_derivative.c 
- The inner loop was reusing and modifying an outer loop variable.

PiperOrigin-RevId: 518843275
Change-Id: I922f8768c4e8ef74c2fb2b1fd897de8234336acf
 2023-03-23 06:32:31 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Yuval Tassa 9a97674e1e Break up engine_derivative.c into analytical and finite-differencing functions (moved to engine_derivative_fd.c) 
PiperOrigin-RevId: 517165392
Change-Id: I649f5521364877d36d7564bb650a889298f0c8a1
 2023-03-16 10:45:15 -07:00
Yuval Tassa 8c7f6ce5a0 New implicitfast integrator and sparse RNE derivatives for implicit. 
PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
 2023-03-15 13:17:41 -07:00
Yuval Tassa 222ee00a66 Break out passive force functions into a new file engine_passive.c 
PiperOrigin-RevId: 513834952
Change-Id: I5347440f24d767a7dc81a34e48e1e17d8c10173f
 2023-03-03 08:32:16 -08:00
Saran Tunyasuvunakool 5e989d18c3 Enable compiler errors for implicit switch case fallthroughs. 
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.

PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
 2023-02-10 03:49:00 -08:00
Nimrod Gileadi 48e95817e4 Don't compute sensors in mjd_transitionFD, if not requested. 
PiperOrigin-RevId: 507878658
Change-Id: I97ece521fd177d97fa5758dda1eb012ba26bcabe
 2023-02-07 14:02:45 -08:00
Yuval Tassa 06557c1489 Set time correctly in mjd_transitionFD, to support time-dependent user code. 
PiperOrigin-RevId: 502380864
Change-Id: Ief36135a900c091d95e4450992c7c73e86de267c
 2023-01-16 07:52:17 -08:00
Yuval Tassa e3a82247c2 Add sensor matrices to mjd_transitionFD. 
- Also add missing `mj_jacSubtreeCom` to Python bindings.

PiperOrigin-RevId: 471610181
Change-Id: I31410d194527ce6a7bdbd01e176f3a41efa52d84
 2022-09-01 13:00:36 -07:00
Saran Tunyasuvunakool b849023069 Miscellaneous linting in src/engine. 
PiperOrigin-RevId: 462415459
Change-Id: I6c79c592613c6b0a665af06faf945586bb6ba32d
 2022-07-21 10:16:49 -07:00
Yuval Tassa 50a72d7227 Don't use var[restrict n] syntax. 
This notation is unsupported by MSVC.

PiperOrigin-RevId: 460030944
Change-Id: Ib86b76c8767d83ab49e4db9d3d0fd1437721df20
 2022-07-10 02:31:21 -07:00
Yuval Tassa ea956dfe34 Derivatives of ellipsoid fluid model. 
PiperOrigin-RevId: 459751881
Change-Id: I52db87d82e20e10698b13065df2e983b9841bd7a
 2022-07-08 07:19:48 -07:00
Yuval Tassa 228264c92b Add efficient finite-difference Jacobians of mj_step. 
- Add `qH` and `qHDiagInv` to `mjData` to save factorized modified inertia.
- Add `mj_EulerSkip`, `mj_implicitSkip`, to `engine_forward.c`.
- Using the above functions, implement `mj_stepSkip` in `engine_derivative.c`.
- Add `mjd_stepFD` and `mjd_transitionFD` to `engine_derivative.c` to compute `mj_step` Jacobians.
  - Exploit "Skip" functionality for speed.
  - Correctly handle quaternion derivatives.
  - Handle warmstarts and control limits.

PiperOrigin-RevId: 456584811
Change-Id: Iee8541f11e7b66feb8f431cb102d9bbe65461f79
 2022-06-22 12:48:48 -07:00