This ensures that at e.g. the barycenter of the triangle each vertex has weight 1/3, as one would expect with barycentric coordinates, rather than 1/sqrt(3). This makes it consistent to the finite element interpolation used in the passive elastic forces.
PiperOrigin-RevId: 823458736
Change-Id: Ia5c02cba186a80612de38402f791695c33e991ab
The smaller size is a warning/error on some targets:
```
error: ‘ bytes’ directive output may be truncated writing 6 bytes into a region of size between 0 and 15
```
PiperOrigin-RevId: 823047552
Change-Id: Id66b5828cf84a512dffc452753f1881deb685584
This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.
PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
This is a more general API in preparation of a higher interpolation order
PiperOrigin-RevId: 820174741
Change-Id: I81bd52ab44e0485d72579e21d1c8a48a1b35ec3f
This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.
PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
*** Reason for rollback ***
BEGIN_PUBLIC
Holding off on a minor version bump until the next release.
*** Original change description ***
#mujoco update the version to 3.4.0 ahead of the 3.4.0 release.
Bump the version to 3.4.0 ahead of the next release.
***
PiperOrigin-RevId: 818748143
Change-Id: I722e9beb80c61a48bd997da6a1840777a81d5036
The truth is that all these solver-related values should be moved out of `mjContact` altogether, but that can be done in a future followup.
PiperOrigin-RevId: 818624976
Change-Id: I5b9e63927098cdf26b9f8acfdd9d86e75d6ce331
An earlier refactor incorrectly assumed that only selected bodies needed
labels.
PiperOrigin-RevId: 818568645
Change-Id: I7aea07c5342673dd589e1891d0db1f2b0c489fe4
This is intended as a drop-in replacement for mjr_render to enable high
quality, physically-based rendering (PBR) using the filament render engine.
This is a work-in-progress and, as such, some features may be missing. This
is also a code-only drop; build files (including instructions on how to
generate the filament materials) will be provided at a later date.
This library is intended to be run with the experimental studio app.
PiperOrigin-RevId: 817593684
Change-Id: Ib9cd14c1881e4897c1111275bd749aa38ebb5317
Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.
Fixes#2881.
PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
Previously this was just used for the USDA file format token, which we can confidently just construct ourselves.
Since [this PR in OpenUSD](https://github.com/PixarAnimationStudios/OpenUSD/commit/5bb9ad1fb2a034e1f9b48c7db936f296b5b78e25) the file lives in a different place now and public usage will be deprecated anyways.
PiperOrigin-RevId: 816801204
Change-Id: I42e92d2af52b0f9ff0a679ecb96f3d2dbf623531
This is a no-op "prefactor" of `mj_crb` to reduce the number of lines changed in the upcoming sleeping CL. The main change here is that `mj_crb` now avoids accessing the model and data pointer repeatedly, but instead has the input and output pointers explicitly declared as local variables. A benchmark test found a healthy **14% perf bump** due to two changes:
- Adding `restrict` to `mju_mulInertVec`
- The function-local pointers.
Adding `restrict` to the local pointers had no effect. Note that `mj_crb` is not a particularly expensive function so these speed bumps are not significant per se, but rather indicative of possible future gains with these techniques.
```
Benchmark Time(ns) CPU(ns) Iterations
---------------------------------------------------------------
ORGINAL BASELINE
BM_CRB_BASELINE_mean 4325 4348 993200 230.052k items/s
BASELINE + RESTRICT
BM_CRB_BASELINE_mean 4057 4090 1186150 244.573k items/s
LOCAL POINTERS + RESTRICT
BM_CRB_mean 3772 3800 1001750 263.209k items/s
```
PiperOrigin-RevId: 815798225
Change-Id: Iffdf57b544e8e10562807c617f73ca4ccd1c614f
Taylor Howell