chenlin/Mujoco_WASM
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4 Commits

Author SHA1 Message Date
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
Saran Tunyasuvunakool ee39340ae7 Remove inappropriate executable bits and minor reformat of code and changelog. 
PiperOrigin-RevId: 416854656
Change-Id: I554d2c5667282567a129d79d91d8f2e97146d6f5
 2021-12-16 20:58:26 +00:00
Saran Tunyasuvunakool a499b38120 Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes. 
Closes #2
Closes #42
Closes #59

PiperOrigin-RevId: 416794598
Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
 2021-12-16 14:40:33 +00:00
Saran Tunyasuvunakool 4bf5630558 Move a number of files ahead of 2.1.1 launch. 
This commit explicitly moves files around without modifying any content
so that Git can track them correctly.

Change-Id: I087d6d61d4e2d82ce06ad9ac0adf7327db94dd9c
 2021-12-16 14:35:55 +00:00