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1171 Commits

Author SHA1 Message Date
Alessio Quaglino f25fc63f0f Default flex internal contacts to "false". 
This function is unusual in the context of soft body simulations and has been a common gotcha for users, see e.g. #2500, #2079, #1900, and #1433. It should be used only if element inversion cannot be prevented otherwise.

PiperOrigin-RevId: 736822983
Change-Id: I76b0965c91c94dd88123826d218d7544ec37a88c
 2025-03-14 04:55:09 -07:00
Alessio Quaglino 8e300eb628 Update list ids immediately during body detach. 
Fixes #2499.

PiperOrigin-RevId: 736449320
Change-Id: Ieeae52bdbbbb896d886221ab088229c8287a32a3
 2025-03-13 03:55:58 -07:00
Tom Power 8f4c5c4b16 add support for non-rgb textures in xml_native_writer 
PiperOrigin-RevId: 736221430
Change-Id: I83c19e06f0f7be054a88c3e894807e7b90ee012a
 2025-03-12 12:17:32 -07:00
Google DeepMind 5c3bab4d09 Change default metallic value to 0, as per the XMLreference doc. 
See https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-material-metallic

PiperOrigin-RevId: 736190166
Change-Id: Ic841df9510aff5df8f5ea3394732ab65b550aa65
 2025-03-12 10:54:29 -07:00
Alessio Quaglino 775c45c60e Do not lookup compiler options by name when attaching. 
Also, fix a pre-existing bug that caused incorrect compiler option propagation with nested attachments.

Fixes #2480.

PiperOrigin-RevId: 736156202
Change-Id: Ib430493e8c60556c2312603198587b39de9b8a4a
 2025-03-12 09:18:47 -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
Yuval Tassa de48f4178f Add missing term in mj_jacDot 
PiperOrigin-RevId: 735686836
Change-Id: I813ca46f71e368ddc97a6d2e540102137b31dbcf
 2025-03-11 03:01:29 -07:00
Alessio Quaglino 019e0a806c Throw an error if a child attached by reference to a parent is compiled. 
Fixes #2482.

PiperOrigin-RevId: 735665098
Change-Id: Ia3436fdd2ff572f8f0c1ded434742a4a9186f2f7
 2025-03-11 01:24:17 -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
Tom Power e7a715497e Write mesh inertia to defaults when exporting to xml. Fixes #2478 
PiperOrigin-RevId: 735338748
Change-Id: Id0b71d06c77baef417f7968ae8a14154243a1f83
 2025-03-10 05:31:55 -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
Yuval Tassa a816ca6dd5 Use qLDiagInv instead of qLD in engine_vis_interact.c 
PiperOrigin-RevId: 734399015
Change-Id: I97c80a8b25dbd40e86560c328cc786a0bed6a2d1
 2025-03-06 21:15:36 -08:00
Yuval Tassa 109a223cf6 Narrow some includes in src/user/ 
PiperOrigin-RevId: 734389490
Change-Id: I2834aadbbb38b396536e467c0dfea11dcc21972f
 2025-03-06 20:45:18 -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
Kyle Bayes 37d6d7792a Fix bug with handling of invalid maxhullvert values (smaller than 4). 
PiperOrigin-RevId: 734136442
Change-Id: I531e5a5b9244e026a9368e0d6a83d2b559c1b58d
 2025-03-06 07:33:41 -08:00
Yuval Tassa 0f563ecf31 Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism. 
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
 2025-03-04 17:34:35 -08:00
Yuval Tassa 7d9df8c9a9 Fill-in qM CSR matrix structure on mjData (currently unused). 
PiperOrigin-RevId: 733258529
Change-Id: I903548ae60139e4858550194e1aedf0efa2f3033
 2025-03-04 03:20:11 -08:00
Yuval Tassa 8f37ae1bf2 Add missing fields in mj_printData, don't print integration-related fields if identically zero. 
PiperOrigin-RevId: 732917127
Change-Id: Ia5fe8e4b6c2485fcf4336847535c1cc72b9d6d62
 2025-03-03 07:34:14 -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
Kevin Sayed 06e217df7e [MJ3.3.1] Bumping internal version number. 
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
 2025-02-27 14:53:28 -08:00
Kevin Sayed 9996500de9 update the version number to 3.3.0 instead of 3.2.8 
PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
 2025-02-26 11:42:55 -08:00
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Kyle Bayes 4f691eeae4 Fix minor issues in EPA in nativeccd. 
PiperOrigin-RevId: 731327356
Change-Id: Iba8215b7991ef74bf890c8da7e9332474e19e9c3
 2025-02-26 08:28:35 -08:00
Kyle Bayes bd66fbd046 Fix return value in mesh edge contact in nativeccd. 
PiperOrigin-RevId: 730924994
Change-Id: Iab4f26da126713bae6629eef502bb2aad690c595
 2025-02-25 09:54:05 -08:00
Alessio Quaglino ed7adf3d17 Do not namespace the body that contains the frame during mjs_attachFrame. 
PiperOrigin-RevId: 730912252
Change-Id: I026993af648766c09d569709d268430207d83169
 2025-02-25 09:16:44 -08:00
Kyle Bayes fbe0990b17 Fix bugs in nativeccd with collisions with margin. 
PiperOrigin-RevId: 730903745
Change-Id: I45ddb674f32cb1f28ff37c587ea953ec595241b3
 2025-02-25 08:51:21 -08:00
Alessio Quaglino ce82b63155 Add mjs_attachFrameToSite. 
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
Alessio Quaglino 14c8dc62f0 Add termination character to flattened plugin attributes if empty. 
Fixes #2450.

PiperOrigin-RevId: 730521722
Change-Id: Iec3fa377c65693d782eeb766a144a1c89096d1f3
 2025-02-24 11:07:18 -08:00
Kyle Bayes 024616345d Support edge contacts with multiccd in nativeccd. 
PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
 2025-02-24 09:48:43 -08:00
Kyle Bayes a6f1dc5e9e Match faceset type to intersect res param type in nativeccd. 
PiperOrigin-RevId: 730470904
Change-Id: Id7b3712c10d5ec871e2d272036e4e87c1e8620e0
 2025-02-24 08:58:10 -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
Alessio Quaglino b3aa5df68a Improve composite docs and changelog. 
PiperOrigin-RevId: 730394496
Change-Id: Ie993214deb82b526a96510e02f6ecff103c58607
 2025-02-24 04:26:35 -08:00
Alessio Quaglino c52d1b3941 Remove the particle composite (replaced by replicate). 
PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
 2025-02-23 03:14:11 -08:00
Alessio Quaglino 0fcd20f0da Remove grid from composite types. 
Replaced it with flexcomp in the models.

PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
 2025-02-23 01:31:41 -08:00
Alessio Quaglino 6aabbc1892 Fixes an issue when self-attaching a model with pulley in tendons. 
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
Yuval Tassa fe9fcae5dc Clean up mj_tendon. 
PiperOrigin-RevId: 729042293
Change-Id: Id0d8483b71b9dbb99e19a67323034f3762e26346
 2025-02-20 03:44:39 -08:00
Alessio Quaglino 6a86247810 Fix flex textures for 3D grids. 
Fixes #2013.

PiperOrigin-RevId: 728673726
Change-Id: Idb2b6bf9e5392576d0b09f3e71dbea6f4636ae81
 2025-02-19 07:59:22 -08:00
Kyle Bayes 7f3bb062c3 Add fields in mjModel for supporting mesh multicontact in nativeccd. 
PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
 2025-02-19 07:12:26 -08:00
Yuval Tassa b516edae1b Rename inertia factorization routines: 
```
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
Yuval Tassa fb07e0d1f7 Convert qLD to CSR format. 
PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
 2025-02-18 07:14:45 -08:00
Kyle Bayes 442b968e22 Improve box-box multicontact with nativeccd. 
PiperOrigin-RevId: 728136635
Change-Id: I2343110e5c87b6621d5750c7ad42f0e75081d737
 2025-02-18 03:41:26 -08:00
Alessio Quaglino 7f11a0df12 Add check for height fields size during compilation. 
Fixes #2427.

PiperOrigin-RevId: 727805729
Change-Id: Idf3192e5fb238249faaeae6b4fb9de4c55755d96
 2025-02-17 04:01:27 -08:00
Tom Power 78a4d2f389 Fix mass/inertia checking for moving bodies with nested children. 
Previously, we only checked immediate children of moving bodies.

PiperOrigin-RevId: 726999705
Change-Id: I133a557daf86223b8751c6d46e25809781e168a1
 2025-02-14 11:26:28 -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
Yuval Tassa e39a5df06a mju_compressSparse(): add option to compress away small elements. 
PiperOrigin-RevId: 726010576
Change-Id: Ib6458037a5cf9a9d82abb364b7dda7aab2f36807
 2025-02-12 05:08:20 -08:00
Yuval Tassa faed1a1137 Clean up mj_jacSparse. 
PiperOrigin-RevId: 725994792
Change-Id: I928a6312a6910231bfeb96ef7a3f29f1d128565c
 2025-02-12 04:06:00 -08:00
Kyle Bayes e3b9538d92 Add saving the indices of mesh vertices with the support points in nativeccd. 
PiperOrigin-RevId: 725660975
Change-Id: I036882a5bde5d009bfa6e66b6a10f6cfb1a78292
 2025-02-11 09:28:49 -08:00
Google DeepMind ac2a324fbd Reduce "shadow acne" artifacts 
PiperOrigin-RevId: 725640931
Change-Id: I95df97d6076b99c12e291f69e8e54bbe70538293
 2025-02-11 08:28:12 -08:00
Yuval Tassa 5ee0654830 Roll back recent change to mjData.qLD until some issues are resolved. 
PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
 2025-02-07 10:21:42 -08:00