The GIL bug was introduced in ec6ea6a69e and is resolved by decrementing the refcount before returning from MjWrapperLookup.
PiperOrigin-RevId: 481558798
Change-Id: I2744287d48635a55ae6d2ec46c9e43fe881019d8
- `gain` was not inherited, either from `<adhesion gain>` default or from `<general gainprm>` default.
- `dyntype` was not inherited from `<general dyntype>` default.
- Reported by @vaxenburg.
PiperOrigin-RevId: 480707156
Change-Id: I0160531d48186e7658952e72923ceb6cb034be9b
- Added new `cable` composite type:
* The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
* The boundary bodies are exposed with the names:`B_left` and `B_right`.
* The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
* The orientation of the body frame **is** the orientation of the material frame of the curve.
- Added new `cable` passive force plugin:
* Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
* The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
* New cable example showing the formation of plectoneme.
* New coil example.
* New belt example showing interaction between twist and anisotropy.
* Added test using cantilever exact solution.
PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
These were inadvertently renamed to XMLReaderTest by an overzealous auto-renamer in 58fd72f53d.
PiperOrigin-RevId: 479520906
Change-Id: Ia50ec659f21a92cbcd4b953cde54dd98f0adb67a
- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.
- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.
- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).
- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.
PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
BEGIN_PUBLIC
Add script for the autogeneration of the XML schema in the documentation.
ENG_PUBLIC
PiperOrigin-RevId: 479289884
Change-Id: I49423195fbd1067d4a4d7be78018d446575bc7e1
Update float parsing using InvariantCulture to not depend on OS language to parse float value.
Usefull for French, German, ... users where comma is default notations for the decimal point parsing.
Since fdbbc8bbe0, mju_mulQuat allows in-place computations.
There were a few places where the result was unnecessarily assigned to a temporary variable.
PiperOrigin-RevId: 477746005
Change-Id: I7351ef4796e7d70a4a54b930037bfaadee781f12
Yuval Tassa