* Changed window.cc to not pass `SDL_WINDOW_OPENGL` for headless opengl graphics modes since this requests a [GLX visual](https://tronche.com/gui/x/xlib/window/visual-types.html#Visual) but CRD's virtual X11 display has no GLX visuals causing window creation to fail with "Couldn't find matching GLX visual".
* Changed `TryLoadEgl` so it fails if `eglBindAPI(EGL_OPENGL_API)` does not return true, causing `CreateFilamentPlatform` to fallback to OSMesa on CRD.
PiperOrigin-RevId: 918029935
Change-Id: Id88338811949b1402578de19bc4d31f4ee1783c1
For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs
```
Compile 1 (cold cache):
total: 317.2 ms
assets: 284.8 ms (wall clock)
load: 616.1 ms
hull: 26.4 ms
poly: 137.8 ms
inert: 177.8 ms
bvh: 568.2 ms
octr: 1.6 ms
tex: 25.3 ms
other: 32.4 ms
Compile 2 (warm cache):
total: 79.9 ms
assets: 54.5 ms (wall clock)
load: 888.5 ms
hull: 0.0 ms
poly: 0.0 ms
inert: 0.0 ms
bvh: 0.0 ms
octr: 0.0 ms
tex: 21.4 ms
other: 25.3 ms
```
PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e
Renames MjrFilamentRenderer to CompatContext and makes it an
internal detail of the compatibility layer. This allows us to
remove all legacy functions from the mjrf namespace, making
them available only in the compatibility layer.
Update studio to use non-legacy mjrf APIs. This requires it to
use some of the compat helper classes. These will be refactored
in the future to make them reusable components.
PiperOrigin-RevId: 917730783
Change-Id: Ic8f68e6e75059f7d394ea3266a346cbd6c1fcaed
Warp is not a true stretch mode but a parasitic shear mode so it should be scaled like bending (~thickness^3) rather than stretching (~thickness). The thickness parameter can therefore be used to set the stretch to warp stiffness ratio of the strain constraints.
PiperOrigin-RevId: 916900311
Change-Id: I52e54210fbb2a6d309abc1f084934830adce3423
mju_boxQP documents that only the lower triangle of the Hessian H is
read, but the gradient and search-direction updates inside
mju_boxQPoption still called the dense mju_mulMatVec, which reads the
upper triangle as well. This violated the documented contract and
prevented callers from safely leaving the upper triangle uninitialized.
Add a file-local mulMatVecSym helper that computes res = H*vec while
reading only the lower triangle of H (mirroring the convention of the
existing mulVecMatVecSym quadratic-form helper), and use it in place of
mju_mulMatVec in both call sites. Extend the BoxQP test suite with
UpperTrianglePoisoned, which fills the strict upper triangle of H with
NaN and verifies that the solver produces the same result as on the
clean symmetric input.
Reported by @lshdlut.
Fixes#3275
The swap chain dimensions are a union of all render request
viewport sizes that use the swap chain.
PiperOrigin-RevId: 916078573
Change-Id: If26a9e1486006ed346227120a361773bfa23f292
Introduce a fast path in mj_addFlexDerivatives for centered flexes where all nodes are attached to bodies with only 3 translational DOFs and no DOF-contributing ancestors. This allows for a direct scatter of K*vec, avoiding the overhead of sparse Jacobian construction and multiplication.
PiperOrigin-RevId: 916063477
Change-Id: I824728a5bdc3b975b04b46ecf22994922e307a8c
This resolves to https://raw.githubusercontent.com/... under the hood.
PiperOrigin-RevId: 916050807
Change-Id: I1630e29a5b5aad0e39cdd8aa4cfc1ff1a71f19d9
The global node indices stored in face_gidx are now checked to ensure they are within the valid range of node numbers, raising an error if any index is out of bounds.
PiperOrigin-RevId: 916025763
Change-Id: I1d2dcb11603137c337493541066b62b2ed2854c0
In `mj_flexPassive`, precompute and cache face positions, global indices, and corotational quaternions for all faces. This avoids redundant calls to `mju_flexGatherFaceState` for each bending edge, as each face can be part of multiple bending edges. This gives a 3-4x speedup in mj_passive.
PiperOrigin-RevId: 915912918
Change-Id: I3e1c00cf2d989f85398a0750a0faf359249cfe01
Reflections, shadows, and post-processing can be specified per render
request rather than per scene.
PiperOrigin-RevId: 915910030
Change-Id: I8ce773b42870aa76a2d8219347ca1cafaec1a97b
Skip flexedge velocity calculation for rigid and interpolated flexes, as they are not used in those cases. The computation is now done per-flex, only for the edges within each non-rigid, non-interpolated flex.
PiperOrigin-RevId: 915907396
Change-Id: I0beb1f98f0115c83da13fed184e89101f57563ab
This gives a 3x speedup in implicitfast.
Also cleanup old code that was used in the dense factorization of the stiffness matrix before we switched to CG.
PiperOrigin-RevId: 915900315
Change-Id: Id6973c4bfd7d371a43ec6db982703969b23a3550
The flex interp stiffness matrix is Negative Semi-Definite (NSD). When forming the RHS for implicit integration, the term involving the velocity and stiffness should be added, not subtracted. A new test is added to ensure energy stability for flex interp stretch stiffness with the implicitfast integrator.
PiperOrigin-RevId: 914845245
Change-Id: Iaaf0914909128e64e195f17cc5f2f344a8a43bc2
Standard flex (flex_interp=0) with thin-plate bending treated bending forces purely explicitly. This caused contact-induced vertex vibrations and non-physical energy injection for flat resting sheets, because the solver treated each vertex as an independent mass during contact and contact normals are orthogonal to stretch constraints.
Fix: extend the existing preconditioned CG solver to include the constant bending stiffness K_bend in the implicit operator via matrix-free mat-vec.
PiperOrigin-RevId: 914774020
Change-Id: I45e0d6749abb6f873566203bccae956514b2576b
Removes the DoRender and DoReadPixels functions which allowed
FilamentContext to "call" SceneView functions even though
SceneView depended on FilamentContext.
Adds a mjrf_setClearColor function so that we no longer rely
on SceneView setting the clear color.
PiperOrigin-RevId: 914253362
Change-Id: I33c1cc9dfc7cb2f4c3cc855a600cccb0c54ae31c
This is in preparation for a future CL that will disable backface culling.
PiperOrigin-RevId: 914136370
Change-Id: Ie8db1268faaa306c3f3356efc5e1305d791cf525
with a preconditioned Conjugate Gradient (CG) solver that operates
on the full system matrix.
The previous approach extracted flex DOFs into a reduced banded system,
factored it separately, and overwrote the global solve. This required
precomputed bandwidth (makeFlexBandwidth), parent-joint detection,
coupling corrections, and a FlexInterpContext struct — and only worked
for standalone flex trees without parent joints.
The new CG solver uses the already-factored global system (M - h*qDeriv)
as a preconditioner and adds the flex stiffness contribution via
matrix-free products (mjd_flexInterp_mulKD/mulK). This handles any
kinematic configuration — including flexes attached to articulated
chains or with parent joints — without sparsity pattern restrictions.
Before (`bunny_multicell`):
```
Simulation time : 50.80 s
Steps per second : 197
Realtime factor : 0.20 x
Time per step : 5080.3 µs
CG iters / step : 3.16
Contacts / step : 31.04
Constraints / step : 124.15
Degrees of freedom : 178
Dynamic memory usage : 0.4% of 100M
```
After:
```
Simulation time : 9.52 s
Steps per second : 1051
Realtime factor : 1.05 x
Time per step : 951.7 µs
CG iters / step : 3.21
Contacts / step : 30.90
Constraints / step : 123.61
Degrees of freedom : 178
Dynamic memory usage : 0.3% of 100M
```
PiperOrigin-RevId: 913758038
Change-Id: If5aa617b2d535c86aec9bd71c9e0003a2b38bdd7
The coordinates for flex interpolation are now computed using the absolute values of the vertex weights. The sign of the first vertex weight is then applied to the resulting barycentric weights. This correctly handles cases where the flex is both the first and the second entity in the contact pair.
PiperOrigin-RevId: 913590928
Change-Id: I970b35fba3d209e13b5b33bb5f945e3c6a43d487
The normal jump residual in flex elasticity calculations now rotates the rest-frame normal jump into the current frame using the face's corotational quaternion before subtracting the jump from the current normal difference.
PiperOrigin-RevId: 913242127
Change-Id: Ia62b28ecccd59e79225737d8225ef4131b333c96
The maximum depth of the octree used for SDF generation can now be specified in the mesh definition via `mjsMesh::octree_maxdepth`. The default value is 6.
PiperOrigin-RevId: 912494999
Change-Id: I6d828d1d3999b99d1210a6829a05b04fac591e1f
Combines the "Solver" and "Performance" chart windows into a single "Profiler" window for better ergonomics and visual layout:
- Unified Dashboard: Groups the Solver block (Counts & Convergence) and the Performance block (Dimensions & CPU Time) in a single viewable window that scales cleanly without vertical scrollbars.
- Adaptive Stacking: Uses ImGui grouping so each block internally stacks its charts vertically, but tiles side-by-side horizontally when the window is stretched wide.
- Default Docking & Width: Integrates the Profiler into the default dockspace layout attached to the right of the main viewable area, with an optimized initial width scaling factor of 0.42.
- Shortcut and Menus: Adds a toggle shortcut bound to `F3`, updates the Help Shortcuts overlay, and replaces old separate entries in the Charts menu.
PiperOrigin-RevId: 912491435
Change-Id: I1f9215e5498866a01ce48b6aeb4a7461191fa01d
- allow reloading of files that failed to load
- clear errors on successful reload
PiperOrigin-RevId: 912458744
Change-Id: Ie6af87508f10e83461bc998c99c9c66e2d58312e
- RHS: Make Inspector be focused by default.
- RHS: Remove Noise pane, put the functionality in the Controls pane.
- Improve Frame and Label dropdowns.
PiperOrigin-RevId: 912434712
Change-Id: I2ee5b647febfc4a90a0cf9387b1d416f5a0dd4a1
Matija Kecman