ed16f2daf2
Set nativeccd as default.
...
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
4f691eeae4
Fix minor issues in EPA in nativeccd.
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PiperOrigin-RevId: 731327356
Change-Id: Iba8215b7991ef74bf890c8da7e9332474e19e9c3
2025-02-26 08:28:35 -08:00
bd66fbd046
Fix return value in mesh edge contact in nativeccd.
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PiperOrigin-RevId: 730924994
Change-Id: Iab4f26da126713bae6629eef502bb2aad690c595
2025-02-25 09:54:05 -08:00
ed7adf3d17
Do not namespace the body that contains the frame during mjs_attachFrame.
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PiperOrigin-RevId: 730912252
Change-Id: I026993af648766c09d569709d268430207d83169
2025-02-25 09:16:44 -08:00
fbe0990b17
Fix bugs in nativeccd with collisions with margin.
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PiperOrigin-RevId: 730903745
Change-Id: I45ddb674f32cb1f28ff37c587ea953ec595241b3
2025-02-25 08:51:21 -08:00
ce82b63155
Add mjs_attachFrameToSite.
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This is required in preparation of changing the spec.attach behavior in the Python bindings.
PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
2025-02-25 03:21:05 -08:00
14c8dc62f0
Add termination character to flattened plugin attributes if empty.
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Fixes #2450 .
PiperOrigin-RevId: 730521722
Change-Id: Iec3fa377c65693d782eeb766a144a1c89096d1f3
2025-02-24 11:07:18 -08:00
024616345d
Support edge contacts with multiccd in nativeccd.
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PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
2025-02-24 09:48:43 -08:00
a6f1dc5e9e
Match faceset type to intersect res param type in nativeccd.
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PiperOrigin-RevId: 730470904
Change-Id: Id7b3712c10d5ec871e2d272036e4e87c1e8620e0
2025-02-24 08:58:10 -08:00
ae1c3b7ec0
Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom.
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PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
2025-02-24 08:14:04 -08:00
b3aa5df68a
Improve composite docs and changelog.
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PiperOrigin-RevId: 730394496
Change-Id: Ie993214deb82b526a96510e02f6ecff103c58607
2025-02-24 04:26:35 -08:00
c52d1b3941
Remove the particle composite (replaced by replicate).
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PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
2025-02-23 03:14:11 -08:00
0fcd20f0da
Remove grid from composite types.
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Replaced it with flexcomp in the models.
PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
2025-02-23 01:31:41 -08:00
6aabbc1892
Fixes an issue when self-attaching a model with pulley in tendons.
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The decision to attach a tendon is taken by looking at whether any of the elements in its path exist when the namespace is added to them. This does not work when pulleys are present so we need to ignore them in the count of unreferenced element.
PiperOrigin-RevId: 729484365
Change-Id: I561a3a2eaa975a17421c8abe3ebfec8d4dd88951
2025-02-21 04:54:31 -08:00
fe9fcae5dc
Clean up mj_tendon.
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PiperOrigin-RevId: 729042293
Change-Id: Id0d8483b71b9dbb99e19a67323034f3762e26346
2025-02-20 03:44:39 -08:00
6a86247810
Fix flex textures for 3D grids.
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Fixes #2013 .
PiperOrigin-RevId: 728673726
Change-Id: Idb2b6bf9e5392576d0b09f3e71dbea6f4636ae81
2025-02-19 07:59:22 -08:00
7f3bb062c3
Add fields in mjModel for supporting mesh multicontact in nativeccd.
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PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
2025-02-19 07:12:26 -08:00
b516edae1b
Rename inertia factorization routines:
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```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```
PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
2025-02-18 09:42:05 -08:00
fb07e0d1f7
Convert qLD to CSR format.
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PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
2025-02-18 07:14:45 -08:00
442b968e22
Improve box-box multicontact with nativeccd.
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PiperOrigin-RevId: 728136635
Change-Id: I2343110e5c87b6621d5750c7ad42f0e75081d737
2025-02-18 03:41:26 -08:00
7f11a0df12
Add check for height fields size during compilation.
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Fixes #2427 .
PiperOrigin-RevId: 727805729
Change-Id: Idf3192e5fb238249faaeae6b4fb9de4c55755d96
2025-02-17 04:01:27 -08:00
78a4d2f389
Fix mass/inertia checking for moving bodies with nested children.
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Previously, we only checked immediate children of moving bodies.
PiperOrigin-RevId: 726999705
Change-Id: I133a557daf86223b8751c6d46e25809781e168a1
2025-02-14 11:26:28 -08:00
89253d957d
Changes to inertia inference from meshes.
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PiperOrigin-RevId: 726051033
Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
2025-02-12 07:43:13 -08:00
e39a5df06a
mju_compressSparse(): add option to compress away small elements.
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PiperOrigin-RevId: 726010576
Change-Id: Ib6458037a5cf9a9d82abb364b7dda7aab2f36807
2025-02-12 05:08:20 -08:00
faed1a1137
Clean up mj_jacSparse.
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PiperOrigin-RevId: 725994792
Change-Id: I928a6312a6910231bfeb96ef7a3f29f1d128565c
2025-02-12 04:06:00 -08:00
e3b9538d92
Add saving the indices of mesh vertices with the support points in nativeccd.
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PiperOrigin-RevId: 725660975
Change-Id: I036882a5bde5d009bfa6e66b6a10f6cfb1a78292
2025-02-11 09:28:49 -08:00
ac2a324fbd
Reduce "shadow acne" artifacts
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PiperOrigin-RevId: 725640931
Change-Id: I95df97d6076b99c12e291f69e8e54bbe70538293
2025-02-11 08:28:12 -08:00
5ee0654830
Roll back recent change to mjData.qLD until some issues are resolved.
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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
2025-02-07 10:21:42 -08:00
c1ecc50081
Store joint damping and stiffness in the private spec when springdamper is used in the public spec.
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PiperOrigin-RevId: 724288204
Change-Id: I7341d5d804e1ea73ded48b8b447addd4e124ab97
2025-02-07 03:55:24 -08:00
c27d3758c2
Convert qLD to CSR format.
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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
2025-02-06 08:59:35 -08:00
cb1696eb34
Merge pull request #2390 from talregev:TalR/mesh
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PiperOrigin-RevId: 723916727
Change-Id: I0abb0a12121c9eb291ccbc6afa0b4117bd389956
2025-02-06 06:46:40 -08:00
fe16c27555
Always compute the convex hull if the mesh inertia is set to convex.
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PiperOrigin-RevId: 723477903
Change-Id: Ibc50d62741f47a5b96a648efd8fb244810664c17
2025-02-05 05:52:10 -08:00
49d07c6100
Fix text edit buffer underrun.
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PiperOrigin-RevId: 723474334
Change-Id: Ibff6d83d67275e6c6333a00cabe33967913dceb1
2025-02-05 05:36:32 -08:00
0d4bc1de00
Do not use flexedge_length if trilinear interpolation is used.
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PiperOrigin-RevId: 723452451
Change-Id: I5a67fb74c13e80ae6d390694dd0c9f8c5e4d5213
2025-02-05 04:09:32 -08:00
3235f69afc
Make polytope2 and polytope4 more numerically robust in nativeccd.
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PiperOrigin-RevId: 723412555
Change-Id: Id262a3c19bcd30b74b1495591bdc95f951bfca50
2025-02-05 01:40:41 -08:00
3d9946cff3
Improve mesh processing readability
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PiperOrigin-RevId: 721524528
Change-Id: I3af4e25815cbc7517b772826af7d929ea93f8164
2025-01-30 14:41:21 -08:00
7cdf180641
Introduce trilinear flex parametrization.
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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
fd568d68d4
Generalize mesh object to be the type of tiny_obj_loader.
2025-01-28 11:33:29 +02:00
6a23841aad
manually inline mju_combineSparse
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PiperOrigin-RevId: 720326669
Change-Id: I03727291f133e3d481e73ad88735e54af8f62f1f
2025-01-27 15:22:18 -08:00
9605990648
Replace custom sort of sparse fixed tendons with mju_combineSparse.
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PiperOrigin-RevId: 720219887
Change-Id: I0491b3cb8987c119c3864fc0b5c38ca303d8f7f0
2025-01-27 10:24:58 -08:00
d86900aac1
Speed up mju_cholUpdateSparse by not checking for varying sparsity pattern where it is guaranteed to not vary.
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PiperOrigin-RevId: 720126576
Change-Id: I3a43bdd0259656fab462b1cd155cb422982e970d
2025-01-27 05:07:28 -08:00
21d97902ee
Check keyframe size before appending it during attach.
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Fixes #2365 .
PiperOrigin-RevId: 718455748
Change-Id: I20c56b7c6fbd868962d19682e72e6294edb6893e
2025-01-22 11:09:49 -08:00
aa505a7872
Add support for NativeCCD multiple contacts for box-box collision.
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PiperOrigin-RevId: 718352304
Change-Id: Icaa827e716a2d7aa7c0c644e0ccd2913b476e6fb
2025-01-22 06:02:58 -08:00
67dd4827a6
Improve printing of inertia-like matrices, allow mj_printData to take const mjData*
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PiperOrigin-RevId: 718176884
Change-Id: I057dabe6973e19db86e9ff9ce4430c6d17dfce2b
2025-01-21 19:59:45 -08:00
bd1bbfe401
Fix bug where EPA horizon returns zero edges due to numerical inaccuracies in float32.
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PiperOrigin-RevId: 717825833
Change-Id: I9fa440816765d4c3eaa0c6c26ec0bd90c774fa01
2025-01-21 02:50:53 -08:00
2624d524ba
Switch mj_solveM_island to use CSR representation
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PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
2025-01-20 18:36:04 -08:00
a5ab7a9515
Switch mj_solveM2 to use CSR representation.
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PiperOrigin-RevId: 717639495
Change-Id: I59eee0f23606481480ec5acb8a3bba2c14b2ea2f
2025-01-20 15:16:26 -08:00
600f4acb52
Change GJK and EPA return values.
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PiperOrigin-RevId: 717549079
Change-Id: I42df5660bcc8336e2e9c8fce71385cbb06104848
2025-01-20 08:59:37 -08:00
5c4c79cd6a
Refactor LD back-substitution (CSR version).
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PiperOrigin-RevId: 717403904
Change-Id: Idcd5e71f03a960203c22cb737d399fac5a0ba59c
2025-01-19 22:47:25 -08:00
240a7afdee
Add sensors for potential and kinetic energy.
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PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
2025-01-17 13:10:12 -08:00
Kyle Bayes