29aa5e4a41
Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.
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PiperOrigin-RevId: 561951337
Change-Id: I1310d7c09d9a85ad9b43877155844a9d0ce6edab
2023-09-01 07:40:16 -07:00
02e819e76a
Tighten const qualifiers of mjData in Jacobian multiplication functions.
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PiperOrigin-RevId: 561711229
Change-Id: I66dc1d2fbcfbf8e935b244fe496ada314d53b135
2023-08-31 11:27:15 -07:00
f9c57f6213
Refactor a loop in mj_constraintUpdate.
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PiperOrigin-RevId: 561684763
Change-Id: Ifbca1793760ecb49f4b48a1a236bd7c1c6e73d0e
2023-08-31 09:59:40 -07:00
eaa2572a8b
Add private function mj_mulJacTVec_island for Jacobian transpose multiplication with sub indices corresponding to one island.
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PiperOrigin-RevId: 561672392
Change-Id: Ic72fd7de2a542603cc42e1c15ecb4edd27a9a986
2023-08-31 09:12:34 -07:00
85fd922b37
Add private function mj_mulJacVec_island for Jacobian multiplication with sub indices corresponding to one island.
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PiperOrigin-RevId: 561648540
Change-Id: I8080a620807e824b40b5d6ba484beb06d081d444
2023-08-31 07:28:24 -07:00
9fd186ac2b
Add private function mj_mulM_island for mass matrix multiplication with sub indices corresponding to one island.
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PiperOrigin-RevId: 561639405
Change-Id: I3777cea51ef22f6847b3cf3e17bdac5cf621c019
2023-08-31 06:42:33 -07:00
129abc6bca
Add private function mj_solveM_island for mass matrix solve with sub indices corresponding to one island.
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PiperOrigin-RevId: 561622962
Change-Id: Ib43f03b3dd0c7456c57d4ba45a68e0708bf1c91c
2023-08-31 05:11:00 -07:00
ba5cf4d54d
Address -Wint-conversion issues.
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PiperOrigin-RevId: 561604684
Change-Id: I31af8621f8506d2e029c4ca630982f82ea4cfca9
2023-08-31 03:25:02 -07:00
ac150f751d
Clean up mj_mulM.
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PiperOrigin-RevId: 561404770
Change-Id: Ie802f5d7f1df6bf32d4549d3db6809d0f507d1e1
2023-08-30 11:46:55 -07:00
f371ca7a4e
Add missing face attribute to the XML schema.
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PiperOrigin-RevId: 561330536
Change-Id: I693fc5228591e4a26ea0749435a6ce9869afd457
2023-08-30 07:08:10 -07:00
16ee0dfde5
Add modified callback to resource providers (for caching purposes).
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PiperOrigin-RevId: 561327623
Change-Id: Id6683f6d6d32ee91019aba46599c28cbffe29df6
2023-08-30 06:53:20 -07:00
273c23038c
MakeParticle and elasticity plugin refactoring.
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- Removed the explicit dependency on a plugin name.
- Creation of particles from user-defined vertices (if a plugin is present).
- Add skin support for an irregular mesh
- Fixes #642 and #674 .
PiperOrigin-RevId: 561313771
Change-Id: I450f91f0d3b578cc18d97ed7180a0a8944b7dd41
2023-08-30 05:40:27 -07:00
f86e8b449f
Refactor VFS logic out of ResourceProvider plugin code.
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PiperOrigin-RevId: 561302536
Change-Id: I952f9e76e85a7e3a111e0338f307378a6ff58197
2023-08-30 04:47:24 -07:00
215433f5f7
Implement mj_stackAlloc and mj_arenaAlloc alignment using bitwise-and.
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This implementation explicitly avoids calling division instructions (which are generally expensive) even when link-time optimization is not active or if the alloc functions aren't inlined for some reason.
Also make mj_stackAlloc cheaper for external callers who may be linking against MuJoCo dynamically (and therefore cannot benefit from inlining).
PiperOrigin-RevId: 561299565
Change-Id: Iea4be5bf6d351ddf0c9d1fd8bd89a0c207b39309
2023-08-30 04:29:18 -07:00
4c899b92cc
Rename mj_stackAllocByte to mj_stackAlloc and make it public.
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PiperOrigin-RevId: 561133040
Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da
2023-08-29 14:07:54 -07:00
d3ed16e78f
Add mjData.dof_islandind, indexing from dofs into islands.
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Also fix bug in allocation for constraint islands, added allocation for limit constraints.
PiperOrigin-RevId: 561083128
Change-Id: I9e01d5a5b7454ec3cf60bccadaa0f96f2c0d87d1
2023-08-29 11:06:17 -07:00
daa2ac7f8b
Rename nstack to narena, change it and pstack to count bytes.
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PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
2023-08-29 10:13:33 -07:00
b979a26b10
Rename mj_stackAlloc to mj_stackAllocNum.
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PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
2023-08-29 08:43:03 -07:00
ea5e00cad8
Move mju_combineSparseCount into engine_util_sparse.
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PiperOrigin-RevId: 561025741
Change-Id: I0bdc48554928fc4545a38a8cea3bdeb593bd7ecd
2023-08-29 07:40:53 -07:00
df1b3515c7
Add mjData.nl: number of active limit constraints.
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PiperOrigin-RevId: 561012367
Change-Id: I9a01fec55502f8a90d7435972e477455ae29df15
2023-08-29 06:32:18 -07:00
389736f5a1
Add Base64, defined by RFC 4648, encoding and decoding to MuJoCo engine.
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PiperOrigin-RevId: 561008882
Change-Id: I494eb163bc82e8a5c9ad2116ef119072b08a9f48
2023-08-29 06:14:02 -07:00
5f3e22a45f
Refactor a loop in engine_solver.c
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PiperOrigin-RevId: 560997065
Change-Id: I26540e4f750eb18d9497bf35396adbb15cc3a122
2023-08-29 05:17:14 -07:00
55173e58f9
Save <compiler {boundmass/boundinertia}> if nonzero.
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Fixes #928
PiperOrigin-RevId: 560967976
Change-Id: Idc8c043278362d8925ce41061c65f3e678ad50ce
2023-08-29 02:41:22 -07:00
8ba3291365
Fix typo.
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PiperOrigin-RevId: 560750842
Change-Id: I11064d43ab43ff0de96997a859bf32d4b0833e05
2023-08-28 10:29:48 -07:00
f44c657544
Restore acceleration after mj_inverse with invdiscrete flag.
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PiperOrigin-RevId: 560647025
Change-Id: If51f721426be7ecf2b7aa53048ad8c897b51e76e
2023-08-28 02:17:20 -07:00
819b5cb982
Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.
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PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
2023-08-25 12:08:37 -07:00
4db3377467
Don't use mj_stackAlloc for int allocations.
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PiperOrigin-RevId: 559846094
Change-Id: I43eeec0b1970b2c6047be4e7c3548a4ce9aa6f5f
2023-08-24 13:09:51 -07:00
b0077e4052
Use geom margin in the midphase.
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At the leaves of the midphase trees in `mj_collideTree`, a bounding sphere test is performed. The margin was incorrectly set to zero instead of reading it from `geom_margin`.
PiperOrigin-RevId: 559782262
Change-Id: Icfceb8445bbf6977582e0061566d7bd4def2f0ae
2023-08-24 09:45:10 -07:00
1dad5993f0
Refactor constraint island representation.
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Required for constraint solver islanding.
Replace linked lists with `island_{dof,efc}_{num,adr,ind}`, corresponding to the standard `{rownnz,rowadr,colind}` sparse matrix representation. By effectively defining two sparse matrix structures of dimensions `nisland x nv` and `nisland x nefc`, respectively, this representation is more conducive to reuse of existing sparse matrix utility functions, while being cache-friendlier by making sequential indices adjacent in memory.
PiperOrigin-RevId: 559704957
Change-Id: I919362cbef0d5fe5acc4aa2bb4ffb17eee8223a2
2023-08-24 03:48:57 -07:00
1f5a9e8c70
Reinstate max_align_t alignment in mj_stackAllocByte.
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PiperOrigin-RevId: 559433104
Change-Id: I891a6a0562cab1c3af0e3dc395304207ca3a3190
2023-08-23 08:22:31 -07:00
b7cf479abe
Add flag for disabling implicit integration of joint damping in the Euler integrator.
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PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
2023-08-23 05:51:37 -07:00
5f2a2a325c
Fix typo.
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PiperOrigin-RevId: 559393250
Change-Id: Ibe257d7db371868d87fbea56111972d3f96f7147
2023-08-23 05:20:50 -07:00
e4c3e1468b
Fix typo
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PiperOrigin-RevId: 559383537
Change-Id: I9510970c26b94b8e8bb90423d6164fc82b9bd016
2023-08-23 04:25:22 -07:00
90f58ebe5d
Rename mj_stackAllocBytes to mj_stackAllocByte
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PiperOrigin-RevId: 559071711
Change-Id: I19072e07ac86ee0486703aa48b0dceb297f5f893
2023-08-22 04:43:53 -07:00
dae74030fe
Handle initial_capacity = 0 in mju_arrayListCreate.
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Add const to ArrayList function arguments where appropriate.
PiperOrigin-RevId: 559064386
Change-Id: I8763974a60a05f34dadd56e953cefa40fe78df42
2023-08-22 04:04:02 -07:00
1d36b57d83
Switch from max_align_t to mjtNum until we sort out the git builds
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PiperOrigin-RevId: 558982369
Change-Id: I24d9fd6400dae5e1bc1753ee74484da635ea8ecd
2023-08-21 21:30:49 -07:00
c2e586f303
add c stddef to engineio
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PiperOrigin-RevId: 558949604
Change-Id: Ibe7fbb1a7fb3fcc9258bff3aae260a805eb853dd
2023-08-21 17:51:08 -07:00
4b983e8439
Add an ArrayList container type.
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PiperOrigin-RevId: 558887266
Change-Id: I201978bfa5e6cfa2f4e495feaecf61374baf7b7b
2023-08-21 13:38:45 -07:00
59138af10b
Refactor stack allocations to have a clean byte allocation interface.
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PiperOrigin-RevId: 558881470
Change-Id: I08c45cb5fa25a1a9c39560e598e805cfa5141c3e
2023-08-21 13:18:29 -07:00
22fd0586b1
Move core_constraint arena allocations to local function.
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PiperOrigin-RevId: 558823297
Change-Id: I4a564f0d05c17634e70fbff16e8bdca2e7d7fb63
2023-08-21 10:07:10 -07:00
b5f9628dd7
Reduce mjMAXCONPAIR to 50.
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Use only the first `mjMAXCONPAIR` contacts in SDF-mesh collisions after sorting them using the penetration depth.
PiperOrigin-RevId: 558176217
Change-Id: Ia1ee12bd5ceb81e4c52f143831ad00426e8cf174
2023-08-18 10:02:44 -07:00
ba12a1354b
Optimize and refactor combineSparse and combineSparseCount.
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PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
2023-08-18 06:14:09 -07:00
b1ecc943bb
Fix multiple bugs related to mjvSceneState.
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PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
2023-08-17 10:25:39 -07:00
cf310079e2
Don't allow quat="0 0 0 0" in XML.
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PiperOrigin-RevId: 557535436
Change-Id: Ie71246da5fff67a7cc37cb1801dd88d4a79b5766
2023-08-16 10:47:23 -07:00
fdb041580c
Add Signed Distance Field to collision geometries.
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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
6245edae28
Improve island discovery performance
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PiperOrigin-RevId: 557444755
Change-Id: I22a2093b563e8e144de9534917955ac403fa5599
2023-08-16 04:55:42 -07:00
8ea690ed70
Remove unused parameters from mju_sqrMatTDSparseInit.
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PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
2023-08-15 06:30:19 -07:00
3e034e38b2
Add constraint island discovery
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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
e4dddea42a
Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage.
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PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
2023-08-14 11:17:47 -07:00
f34cb22bd3
Reuse sparse Dof-Dof matrix to make compressed sparse M in mj_addM.
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PiperOrigin-RevId: 556823353
Change-Id: I650ac83767d60c69859aae6e38aa331f43814378
2023-08-14 09:49:34 -07:00
Yuval Tassa