Commit e3a82247c2 removed MJAPI in mujoco.h but not in engine_derivative.h, causing a linking error when building on Windows with MSVC.
PiperOrigin-RevId: 471639915
Change-Id: I6b965e23a19faee6f9f8f9c0168dc2774b19f310
- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.
PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
- Add sections about the state and derivatives to the Computation chapter.
PiperOrigin-RevId: 459032736
Change-Id: I0b69401688f24c84d5747f1b49980e38e19a54a3
- Never modify `d->ctrl`:
- `ctrl` values which are outside their respective `ctrlrange` are clamped internally, but `d->ctrl` itself is unmodified.
- Similarly, if `mjWARN_BADCTRL` is raised (NaNs or huge values), `ctrl` is cleared internally, but `d->ctrl` itself is unmodified.
- `mjWARN_BADCTRL` is no longer raised for `d->ctrl` values that are larger in absolute value than `mjMAXVAL`, if clamping makes them smaller than that.
- Added `mju_clip()` utility function.
- Added missing warning string for `case mjWARN_BADCTRL`.
PiperOrigin-RevId: 459025950
Change-Id: Ifbf974f9c02c3d70afdaa3114018fc81dfd746d3
- Add `qH` and `qHDiagInv` to `mjData` to save factorized modified inertia.
- Add `mj_EulerSkip`, `mj_implicitSkip`, to `engine_forward.c`.
- Using the above functions, implement `mj_stepSkip` in `engine_derivative.c`.
- Add `mjd_stepFD` and `mjd_transitionFD` to `engine_derivative.c` to compute `mj_step` Jacobians.
- Exploit "Skip" functionality for speed.
- Correctly handle quaternion derivatives.
- Handle warmstarts and control limits.
PiperOrigin-RevId: 456584811
Change-Id: Iee8541f11e7b66feb8f431cb102d9bbe65461f79
The introduction of additional mjData arrays for the implicit integrator caused in a shift in data alignment in memory. In certain combinations of machines and models, this change resulted in ~5% performance regression that appears to be attributable to L2 cache misses.
This change aligns all arrays in mjData to the boundary of a typical L2 cache line size. Benchmarking shows that this resolves the performance regression on a Broadwell machine.
PiperOrigin-RevId: 451652783
Change-Id: I4ed2c2d03453a83a0b4a9b8e224e2fd7c0dadea9
Yuval Tassa