chenlin/Mujoco_WASM
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76 Commits

Author SHA1 Message Date
Yuval Tassa 393c1e4217 Migrate mjtByte to mjtBool for boolean-valued fields. 
PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
 2026-05-26 05:35:49 -07:00
Kyle Bayes ad96acfb16 Add internal mj_narrowphase for batch processing of potential geom pair collisions. 
PiperOrigin-RevId: 918988042
Change-Id: I871dcdf42f8105e2c8a57e275a3775ea46c69e65
 2026-05-21 05:16:35 -07:00
Kyle Bayes 7174d33f08 Introduce mjPreContact, a minimal struct passed into the collision functions. 
PiperOrigin-RevId: 918533795
Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
 2026-05-20 10:47:46 -07:00
Yuval Tassa f712eed4ce Allow flex sleeping 
PiperOrigin-RevId: 917817500
Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
 2026-05-19 07:15:27 -07:00
Yuval Tassa a4e49f2dff Margin and gap redesign (breaking change) 
PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
 2026-05-12 09:43:43 -07:00
Kyle Bayes 3325971840 Add mj_maxContact API function. 
PiperOrigin-RevId: 903135055
Change-Id: I5f103c7d51f97e327c923bc567002ace835f5517
 2026-04-21 04:03:22 -07:00
Kyle Bayes 56e98cc16c Improve AABB bounds in makeAAMM. 
MODEL           BEFORE(ns)   AFTER(ns)
boxmesh.xml     874645       744822
box.xml         808226       786226
ellipsoid.xml   1477609      1436058
mixed.xml       1492063      1404848

PiperOrigin-RevId: 900626282
Change-Id: I3df5a6cd8a4cb2e3b9ded1b40a5310a4c14ec624
 2026-04-16 03:25:18 -07:00
Kyle Bayes d9b3faf8f4 Remove thread_local EPA data in favor of using mjData stack. 
PiperOrigin-RevId: 900201369
Change-Id: I82fbe9bf0ef9ea117c2124353d876dd42a57fb3a
 2026-04-15 09:19:57 -07:00
Kyle Bayes 490c1f4126 Refactor mj_collideGeoms. 
PiperOrigin-RevId: 878091736
Change-Id: I738c2e5a21036d859b7b163cb000dc516b63a878
 2026-03-03 13:11:14 -08:00
Alessio Quaglino bf74d01d93 Add collisions between flexes and SDF geoms. 
The flex-SDF algorithm uses the same logic as mesh-SDF. Previous to this change, the flex was instead colliding with the convex hull of the mesh generated automatically with marching cubes from the SDF.

PiperOrigin-RevId: 876420302
Change-Id: I3bf6552b6b8e108ba4c4209bbcf10fe5f2b2fd90
 2026-02-27 14:35:27 -08:00
Alessio Quaglino 8ba68cee3e Limit the number of flex contacts per collision pair. 
This change introduces a filter for flex-related contacts, ensuring that no more than mjMAXCONPAIR contacts are kept for each geom-flex, flex-flex, flex internal, and flex self-collision pair. The contacts are sorted using farthest-point sampling:

- Starts with the deepest penetrating contact
- Iteratively selects the contact farthest from already-selected contacts
- Produces a spatially distributed set of contacts

PiperOrigin-RevId: 872593388
Change-Id: I50b233a0dc66da6a297852c258ba514f131c8f23
 2026-02-19 15:32:17 -08:00
Yuval Tassa 6af0d4c823 Replace margin/gap max with sum. 
PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
 2026-02-11 14:22:27 -08:00
Alessio Quaglino a54c9f1d78 Specialized box and capsule collision primitives for stable 2D flex interactions. 
PiperOrigin-RevId: 864500749
Change-Id: I52aed6e29569477a8a0b6b5eb55ad483f1077c0e
 2026-02-02 13:36:42 -08:00
Yuval Tassa bc83bfb076 Restructure AAMM storage for improved cache locality in broadphase, ~35% speedup (of broadphase). 
PiperOrigin-RevId: 831007564
Change-Id: I1a72ca02f5a50194bb7770d5765c6140adde1852
 2025-11-11 11:46:08 -08:00
Yuval Tassa 769f37b653 Implement sleeping in engine 
PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
 2025-11-07 03:33:07 -08:00
Yuval Tassa edbdb5195c Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2 
PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
 2025-10-01 07:58:17 -07:00
Taylor Howell d616f11508 Remove references to deprecated nconmax and njmax. 
PiperOrigin-RevId: 809987304
Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111
 2025-09-22 06:28:41 -07:00
Yuval Tassa 681f5767b2 Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs 
PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
 2025-09-18 12:28:09 -07:00
Yuval Tassa 4b8454b79c Add semicolons after mjSORT macro calls. 
PiperOrigin-RevId: 808587320
Change-Id: I9fd290b9a2b615647135f1250e87af8ea9bb81f6
 2025-09-18 08:13:46 -07:00
Yuval Tassa 52da7586dc Clean up includes in src/engine 
PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
 2025-09-16 09:36:44 -07:00
Yuval Tassa b9900db00e Extract memory allocation functions and core utilities 
PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
 2025-09-01 03:38:25 -07:00
Taylor Howell 13621879c6 Remove unnecessary loop from mj_collideOBB. 
PiperOrigin-RevId: 780629489
Change-Id: I715cd1f72012c0655997ba4c967fa7b5b8731d54
 2025-07-08 10:50:33 -07:00
Alessio Quaglino 7cdf180641 Introduce trilinear flex parametrization. 
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
Yuval Tassa 893a993bf6 Fix typos. 
PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
 2025-01-16 06:28:54 -08:00
Kyle Bayes 4da2ddce29 Only correct box-box collisions with the mjc_BoxBox function. 
PiperOrigin-RevId: 716209565
Change-Id: I3419ce82f9934606bed80acd8372284fc7ac7ac8
 2025-01-16 06:22:20 -08:00
Yuval Tassa 2691887500 Add engine-internal convenience macro for allocating typed arrays, improve error message. 
PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
 2024-12-11 09:04:44 -08:00
Kyle Bayes 708fd83a49 Remove goto statement from engine collision code. 
PiperOrigin-RevId: 688539516
Change-Id: I29b5dd39acccde59df2dbcaf5e866eb6a0406c43
 2024-10-22 07:22:18 -07:00
Kyle Bayes 2b0629d75f Replace mjQUICKSORT with faster, native sorting function. fixes #1638 
PiperOrigin-RevId: 688519096
Change-Id: I05ab1576703c2458968ef81915ac682a8beac391
 2024-10-22 06:05:12 -07:00
Yuval Tassa fd17b2144a Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.
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Also, minor type-related fixes in `user_mesh.cc`.

PiperOrigin-RevId: 675082329
Change-Id: Icc5eb9f9eb4fbf09b08d7d4b9b2929f414e4a75c
 2024-09-16 03:40:17 -07:00
Yuval Tassa e4d4153352 Move sanitizer instrumentation to a separate header file. Fixes #2049. 
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
 2024-09-10 09:05:35 -07:00
Taylor Howell 82c27165f2 mjQUICKSORT uses std::sort with C++. 
fixes #1638

PiperOrigin-RevId: 660887790
Change-Id: Ia3b493feda98b246d963aa749bc81b96c42fddaa
 2024-08-08 10:24:34 -07:00
Yuval Tassa 6067048537 Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3. 
These functions names and argument ordering are more consistent with the rest of the API.

PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
 2024-06-16 10:02:36 -07:00
Alessio Quaglino ec84ddb5a4 Use plane-convex for plane-sdf collisions, using the marching cube mesh. 
PiperOrigin-RevId: 629437563
Change-Id: Ic7fb6ec8a5c6680dd2c0a71baa7cc78636d478b1
 2024-04-30 09:30:39 -07:00
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -08:00
Yuval Tassa 2feefbc5d2 Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID. 
PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
 2024-01-17 10:54:23 -08:00
Yuval Tassa f2a967348c Fix bug introduced in 7942fe957e 
That change removed some spurious contacts returned by mjc_BoxBox, but also removed some desirable contacts that occur during very deep penetration of two boxes (when one box is completely inside another box). This is now fixed.

PiperOrigin-RevId: 591036252
Change-Id: I84b51f2179fd6fe29618a4e908e86934c6fc6941
 2023-12-14 13:30:38 -08:00
Yuval Tassa 7942fe957e Circumvent bug in mjc_BoxBox. 
The box-box collider sometimes outputs bad contact points which are far outside one of the two boxes. This happens at configurations which are very rare numerically, but rare configurations (e.g. perfect box alignment) are often induced by the designer and the physics, making them actually not-so-rare.

Since the box collision functions are very difficult to understand, we circumvent the issue by extending the post processing code to detect and remove such contacts.

PiperOrigin-RevId: 589178197
Change-Id: I82b8a888ef04f9196111c960757e3314d0ab6d8e
 2023-12-08 10:39:27 -08:00
Alessio Quaglino d0294b7cc0 Initialize contact frame in planeVertex contact. 
PiperOrigin-RevId: 574416404
Change-Id: I305f7113364ad9198947c5aa7346bb832fc43146
 2023-10-18 02:56:14 -07:00
Alessio Quaglino 3f3d5a3b49 Fix contactcompare swapping condition. 
PiperOrigin-RevId: 574276137
Change-Id: Iafbb6a99c1fb57907d3cb1d0796b6ad718e549d2
 2023-10-17 15:05:20 -07:00
Alessio Quaglino 110ade1435 Update Solid and Shell plugins to use FlexComp. 
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
 2023-10-16 03:03:06 -07:00
Yuval Tassa a9ee497e33 Add spaces around comparison operators. 
PiperOrigin-RevId: 573620198
Change-Id: Icf295cc0dd381a4a7f0e2c94f2e12b499193e862
 2023-10-15 07:40:10 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Alessio Quaglino 8af09eb70d Add timing of collision phases. 
PiperOrigin-RevId: 572273621
Change-Id: Ib9440a996a05e42e00dcf4f1ce487a12f65e999b
 2023-10-10 09:27:45 -07:00
Yuval Tassa 18d9f1abb0 Improvements to timing. 
- Fixed bug in timing of kinematics, was under-reported.
- Moved timing of inertia and collision into respective functions, in preparation for multi-threading.
- Detailed profiling in `testspeed` is always on, removed command-line flag.
- Improved `testspeed` self-documentation.

PiperOrigin-RevId: 571989548
Change-Id: If0e3cc17f6f3511b98fc36339f406a19968a9361
 2023-10-09 11:14:44 -07:00
Matthew Bennice 071af3b015 Implement threading for island constraint solving. 
Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
 2023-10-05 21:05:19 -07:00
Yuval Tassa 9cf1f6eba4 Remove mjOption.collision and associated option/collision attribute. 
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
 2023-09-18 15:15:54 -07:00
Yuval Tassa 9902b73502 Rename mj_stackAlloc to mj_stackAllocByte. 
PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
 2023-09-18 10:53:35 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool 0e36f00857 Fix more mjData stack leakages. 
PiperOrigin-RevId: 562545230
Change-Id: I2facf25b00878669dc12d5865767a44229d2ca48
 2023-09-04 06:38:50 -07:00
Saran Tunyasuvunakool 5a21e202ed Eliminate mjContact copying during collision detection. 
This results in approximately 4-5% speedup in collision detection for particle.xml.

PiperOrigin-RevId: 562526634
Change-Id: Ia6487b1908618064d858bac484fe6861ed37a402
 2023-09-04 04:46:26 -07:00