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425 Commits

Author SHA1 Message Date
Yuval Tassa 70bc7be4bc Add additional data fields that can be reported by rangefinder sensors. 
PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
 2025-12-23 15:33:00 -08:00
Yuval Tassa 9d646e6548 Extend rangefinder sensor to support cameras. 
PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
 2025-12-23 12:04:49 -08:00
Yuval Tassa b28b5db680 Add mj_multiRayNormal for multi-ray casting with normal computation (not exposed in public header) 
PiperOrigin-RevId: 847821078
Change-Id: I616441d3460406a92a10731d1a086af6163e96ad
 2025-12-22 11:02:58 -08:00
Yuval Tassa 223ba99ec2 Add mju_rayFlexNormal (not exposed in public header) 
PiperOrigin-RevId: 847746174
Change-Id: Ia8f597d296bf6a3eed9bd48b1c39b2ff2b5fcf90
 2025-12-22 06:49:22 -08:00
Yuval Tassa c7f5766345 Add frustum visualization for orthographic cameras. 
PiperOrigin-RevId: 847698917
Change-Id: I13633e8ba2d4718b127a5838c404ab74c6180e3d
 2025-12-22 03:43:54 -08:00
Yuval Tassa b8a4ac5d48 Refactor camera orthographic attribute to projection enum. 
PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
 2025-12-20 03:28:29 -08:00
Yuval Tassa 45b0153067 Refactor sparse Cholesky factorization into symbolic and numeric phases. 
The new symbolic function is a generalization of the function it replaces. In this CL it takes two unused temp arrays. The actual change in behavior happens in the followup.

New benchmark test output below ("L" is 2 humanoids and 100 free objects, "XL" is 100 humanoids). Note that `symbolic` is only ever called once per Newton iteration, while `numeric` is sometimes called multiple times (when the rank-1 update fails), hence timing them separately is valuable.

```
Benchmark               Time(ns)        CPU(ns)     Iterations
--------------------------------------------------------------
BM_old_L_mean              84382          84703          19547  11.807k items/s
BM_symbolic_L_mean         16345          16381          88414  61.055k items/s
BM_numeric_L_mean          10986          10994         120000  90.999k items/s
BM_old_XL_mean           1241208        1244212           1200  803.924 items/s
BM_symbolic_XL_mean       130917         131042          12720  7.631k items/s
BM_numeric_XL_mean         77004          76767          21116  13.029k items/s
```

PiperOrigin-RevId: 846704054
Change-Id: Ib0c365724d63bf2b81606ca5353756a6496c3a26
 2025-12-19 06:11:55 -08:00
Yuval Tassa 47e35e632f Add a test for equivalence of different solvers. 
PiperOrigin-RevId: 845777469
Change-Id: I76a162b71bea349cca3472001360181654a5d571
 2025-12-17 08:21:52 -08:00
Yuval Tassa 08b4b4144d Add tests for mju_cholUpdate and mju_cholUpdateSparse. 
PiperOrigin-RevId: 845229292
Change-Id: Ide1406f85e49fe5a5b339bedff7ff6dd8099e5e8
 2025-12-16 05:59:40 -08:00
Yuval Tassa 1ff74ba810 Change the type of state signature arguments from unsigned int to int 
PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
 2025-12-11 04:34:36 -08:00
Yuval Tassa f06aa45ea6 Consolidate ray normal functions. 
PiperOrigin-RevId: 842300829
Change-Id: Ic5e921084710cb044a4f49ea9b566d277838aaa1
 2025-12-09 10:36:10 -08:00
Yuval Tassa 5b1fa666fb Add mj_rayHfieldNormal (not exposed in public header) 
PiperOrigin-RevId: 842259581
Change-Id: I27d6c46024d55addbc22eed276331e2ef5acfa7d
 2025-12-09 08:53:47 -08:00
Yuval Tassa c064abc3da Change row-flipping logic for heightfields. 
Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.

PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
 2025-12-09 07:02:21 -08:00
Yuval Tassa f65c1cdfd1 Add mj_raySdfNormal (not exposed in public header) 
PiperOrigin-RevId: 842178540
Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
 2025-12-09 04:43:39 -08:00
Yuval Tassa ad24889bb9 Add mj_rayMeshNormal (not exposed in public header) 
PiperOrigin-RevId: 838707353
Change-Id: If31d2454e0668f750bcba21ee42f81ef962e9097
 2025-12-01 04:13:52 -08:00
Yuval Tassa 7caa3d6703 Add names to some sensors in sleep test XML. 
PiperOrigin-RevId: 837611931
Change-Id: Ib077765d795037bdd0d32d19e1c7d5bf9b256d51
 2025-11-27 14:09:21 -08:00
Yuval Tassa 888d3a7b07 Add mj_copyState 
PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
 2025-11-25 03:10:30 -08:00
Yuval Tassa d1317fd1a5 Add ray normal computation for primitives (currently private) 
PiperOrigin-RevId: 834294539
Change-Id: I176f13a8f91dede589338fc44e099a16bac0b580
 2025-11-19 08:01:02 -08:00
Yuval Tassa e18e35f967 Fix normal only for libccd during hfield collisions. 
PiperOrigin-RevId: 833933161
Change-Id: I3a4ff044276d9c7305154da09b440168f0f22305
 2025-11-18 12:55:56 -08:00
Yuval Tassa b8512b9d1f Fix bug related to sleeping static children of mocap bodies. 
PiperOrigin-RevId: 831376685
Change-Id: I8891a1d7dc6efc037e9ade5c7e8dd5c35c7e455e
 2025-11-12 07:20:03 -08:00
Yuval Tassa 22c0b68903 Improve logic and documentation for sleeping sensors 
PiperOrigin-RevId: 830891115
Change-Id: Ife8309b165c085b54c9f668d825d69ed12a9a8f0
 2025-11-11 06:45:56 -08:00
Kyle Bayes 39f0321a68 Clean up NativeCCD testing models. 
PiperOrigin-RevId: 830733959
Change-Id: Ie7f71c36d2efafd37aecef54ca4897cebd6d091f
 2025-11-10 21:31:02 -08:00
Taylor Howell 883836848a Fix box-box distance computation. 
PiperOrigin-RevId: 829431553
Change-Id: I9e28bc8eb7687c3c83e5ff68c65e93d8a07378a9
 2025-11-07 07:37:03 -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 252a0d73df Add sleep related data structures 
PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
 2025-11-06 12:10:55 -08:00
Taylor Howell 85e9cff0c1 Update mj_geomDistance: don't flip geoms for nativeccd. 
PiperOrigin-RevId: 824463375
Change-Id: Ic9c4cac916129b88575e0366e1b95353ce716ca2
 2025-10-27 04:48:36 -07:00
Saran Tunyasuvunakool 2f65e23779 Add mj_extractState as a public API function. 
This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.

PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
 2025-10-21 10:01:22 -07:00
Alessio Quaglino ff7c94de8a Add quadratic interpolation to mju_interpolate3D. 
PiperOrigin-RevId: 820252349
Change-Id: I983175eb51d7e1a81da06c0911326fcb8f5fe764
 2025-10-16 08:48:20 -07:00
Yuval Tassa 5715cebbb9 MSAN: Don't clear mjData.sensordata in mj_resetData 
This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.

PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
 2025-10-15 08:31:03 -07:00
Kyle Bayes 91257896c0 Implement faster mju_isZeroByte. 
PiperOrigin-RevId: 814148714
Change-Id: Iaf5ed9d3502eaaaee8d46a986f2db00811ae0707
 2025-10-02 02:53:53 -07:00
Kyle Bayes bdccbcc60a Add multiccd fields to MJX and add simplex box-mesh model. 
PiperOrigin-RevId: 813190617
Change-Id: Idc450da59d6420825077a642719525750f6551ec
 2025-09-30 03:40:29 -07:00
Haroon Qureshi 70d03adc71 Store the status of the scene in the scene itself. 
PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
 2025-09-30 00:06:00 -07:00
Haroon Qureshi fc8979ed4a Add test for checking exhausted geoms. 
PiperOrigin-RevId: 812776271
Change-Id: Ic9456ab201610a69237182ac22147e3d3e240308
 2025-09-29 07:18:12 -07:00
Yuval Tassa fe8384b6c5 Visualize joint and tendon limits by re-coloring. 
PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
 2025-09-25 19:02:26 -07:00
Yuval Tassa d71d42a374 Add private function mju_isZeroByte to check for byte-wise zero. 
PiperOrigin-RevId: 810456282
Change-Id: I877d0f9225e7a783ed7ff12ce54f4ed0a7889793
 2025-09-23 08:49:43 -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 b9900db00e Extract memory allocation functions and core utilities 
PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
 2025-09-01 03:38:25 -07:00
Yuval Tassa b092563cab Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING. 
PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
 2025-08-29 06:06:28 -07:00
Yuval Tassa 7443e685ac Allow contact sensor subtree1/subtree2 to be any body. 
PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
 2025-08-26 11:00:39 -07:00
Taylor Howell 1ac51cf2a5 Update comment in engine_forward_test.cc. 
PiperOrigin-RevId: 799550233
Change-Id: I75840bdcb94d4b10962f1fff5a225a6fe5bc0672
 2025-08-26 07:12:51 -07:00
Yuval Tassa ec94bb49aa Make constraint island discovery on by default. 
Also fix latent bug in mjData serialization.

PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
 2025-08-26 04:27:24 -07:00
Taylor Howell 4cf5c37211 Fix spelling in engine_forward_test.cc. 
PiperOrigin-RevId: 799147728
Change-Id: If5e734ba31961d459281f7cb5edea7c370c1f2fd
 2025-08-25 09:15:48 -07:00
Yuval Tassa a230aa60c5 Improve mj_addM and associated test 
- Updated docs to clarify that only the lower triangle is touched
- The function was unnecessarily adding the upper triangle in the sparse case
- The test used an unnecessarily large model and stepping it leading to timeouts under ASAN

PiperOrigin-RevId: 798528736
Change-Id: I592cc17dfb62379bb0cd6b332a8eb7e8b0ef6355
 2025-08-23 03:56:47 -07:00
Yuval Tassa 2f28473bc1 Remove transposed Jacobian fields from mjData 
No longer computed unconditionally, only ad-hoc where required.

PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
 2025-08-21 07:21:24 -07:00
Yuval Tassa f71053243e Replace std::array with C-style array for error buffer in GJK tests. 
PiperOrigin-RevId: 797730796
Change-Id: I228c58e163c8c6d1426a88c1a6f447c4a56a34e6
 2025-08-21 06:03:53 -07:00
Yuval Tassa 174a50442d Allow transposing of sparse sub-matrices whose first row is > 0 
PiperOrigin-RevId: 797728559
Change-Id: I3c825118dae198333d357d2e4f248d00b0f5d8ce
 2025-08-21 05:56:33 -07:00
Alessio Quaglino b66175eba6 Bending stiffness for curved shells in flex. 
PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
 2025-08-18 04:13:18 -07:00
Yuval Tassa 972ffd7b90 Improve mj_fullM documentation, add clarifying test. 
PiperOrigin-RevId: 796134559
Change-Id: I85ab3680d3545ccf83d0d3af8a7c21cb36e96d4e
 2025-08-17 11:02:14 -07:00
Yuval Tassa 1447711037 Rename spec to sig in state-related API functions. 
(to avoid confusion with mjSpec)

PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
 2025-08-16 08:38:25 -07:00