- Add Toolbar and StatusBar.
- Reconfigure sections into Settings and Inspector groupings.
- Use docking for Settings/Inspector panels.
- Rename "Free" camera to "Tumble"; add WASD-based free camera.
- More dynamic layout of table-based elements.
- Remove "non-classic" UX mode.
- Switch to light mode by default.
PiperOrigin-RevId: 835174573
Change-Id: I1855caa79f00002e44ed2516631675727bdcb9f6
This change makes `mjtSize` a signed, rather than unsigned 64-bit integer. While sizes are non-negative, the type promotion rules for unsigned integers can lead to unituitive downstream bugs, and 8 billion terabytes are enough bytes.
PiperOrigin-RevId: 834292964
Change-Id: Iea9c47c2a5d80fde63851a543d59ed0549db0f01
For each contact point, we used to first compute the vertex weights on a triangle and then add a contact point per vertex using the flex interpolation (trilinear or quadratic), obtaining the total weight by multiplying the vertex weight and the basis function value at that vertex. After this change, each contact point is added directly by evaluating the basis function directly a the point.
PiperOrigin-RevId: 834218909
Change-Id: Ic0fdb03fc0ef5478798c293df99204fd33116fd1
This fixes a bug where the wrong instance was being used in some cases.
PiperOrigin-RevId: 833818151
Change-Id: If8b0cb90017ee0b89cde98a5ae64c36704c7338c
This enables decoders to leverage their own file resolution systems. For example: USD can compose a stage (scene) from memory, via a file on disk, or via custom asset resolver.
Passing it through to the decoder reduces the need for custom resource providers that wrap these other resolution systems.
This will also enable a fun, but likely niche usecase where the decoder does procedural generation and does not have to be backed by a resource. See the tests for an example of this.
PiperOrigin-RevId: 828939899
Change-Id: Ic319a685332d91198a4ae926867c834bf7f7f724
Interactions (like moving the camera or mouse picking) no longer depend
on needing an mjvScene. Instead, everything is done relative to the
camera directly.
This duplicates some code in engine_vis_visualize which we will try to
resolve and recombine at a future time.
PiperOrigin-RevId: 828461259
Change-Id: If26329c1a7c37516f0213b18056c3e31760f60ae
This enables two workflows:
1) Users that parsed some other format into MjSpec, or built it programmatically can export animated USD easily with as minimal as possible interaction with USD.
2) Creating a spec from USD, then modifying the spec, should not cause a duplication of data when writing to USD.
PiperOrigin-RevId: 827627520
Change-Id: I02c8c14a18569547710e54f3704d52ac0bf70ce6
- When `mjData.nefc` was 0 (solver not run at all), we were plotting the stale diagnostics from the last run; now fixed.
- In the case where islands were used, the semantic of the plotted diagnostic `sqrt_nnz` (square root of Hessian nonzeros) is changed. It used to be the sum of square roots of solver nonzeros per island, it is now the square root of the sum of all nonzeros in all islands. The semantic `sqrt(sum(nnz_i))` was found to be more consistent than `sum(sqrt(nnz_i))`, in the sense that switching islanding on/off leads to smaller changes and is more in line with the interpretation of islanding as [block-diagonalization](https://mujoco.readthedocs.io/en/3.3.7/computation/#constraint-islands).
PiperOrigin-RevId: 827624908
Change-Id: I5fc86364ead585a4752a6d44823fb75cf6c7c318
Matija Kecman