78a4d2f389
Fix mass/inertia checking for moving bodies with nested children.
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Previously, we only checked immediate children of moving bodies.
PiperOrigin-RevId: 726999705
Change-Id: I133a557daf86223b8751c6d46e25809781e168a1
2025-02-14 11:26:28 -08:00
89253d957d
Changes to inertia inference from meshes.
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PiperOrigin-RevId: 726051033
Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
2025-02-12 07:43:13 -08:00
e39a5df06a
mju_compressSparse(): add option to compress away small elements.
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PiperOrigin-RevId: 726010576
Change-Id: Ib6458037a5cf9a9d82abb364b7dda7aab2f36807
2025-02-12 05:08:20 -08:00
5874c8a8df
Update xml_native_writer_test.cc
2025-02-08 22:14:32 +01:00
5ee0654830
Roll back recent change to mjData.qLD until some issues are resolved.
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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
2025-02-07 10:21:42 -08:00
c1ecc50081
Store joint damping and stiffness in the private spec when springdamper is used in the public spec.
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PiperOrigin-RevId: 724288204
Change-Id: I7341d5d804e1ea73ded48b8b447addd4e124ab97
2025-02-07 03:55:24 -08:00
c27d3758c2
Convert qLD to CSR format.
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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
2025-02-06 08:59:35 -08:00
fe16c27555
Always compute the convex hull if the mesh inertia is set to convex.
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PiperOrigin-RevId: 723477903
Change-Id: Ibc50d62741f47a5b96a648efd8fb244810664c17
2025-02-05 05:52:10 -08:00
3235f69afc
Make polytope2 and polytope4 more numerically robust in nativeccd.
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PiperOrigin-RevId: 723412555
Change-Id: Id262a3c19bcd30b74b1495591bdc95f951bfca50
2025-02-05 01:40:41 -08:00
7cdf180641
Introduce trilinear flex parametrization.
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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
9605990648
Replace custom sort of sparse fixed tendons with mju_combineSparse.
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PiperOrigin-RevId: 720219887
Change-Id: I0491b3cb8987c119c3864fc0b5c38ca303d8f7f0
2025-01-27 10:24:58 -08:00
08edde5fd8
Add test for armature, model will be used in upcoming improved documentation for armature.
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PiperOrigin-RevId: 719916567
Change-Id: I7f74bd3c3864f43f5f68d458d5b128cfee1d7e6c
2025-01-26 12:01:12 -08:00
21d97902ee
Check keyframe size before appending it during attach.
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Fixes #2365 .
PiperOrigin-RevId: 718455748
Change-Id: I20c56b7c6fbd868962d19682e72e6294edb6893e
2025-01-22 11:09:49 -08:00
aa505a7872
Add support for NativeCCD multiple contacts for box-box collision.
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PiperOrigin-RevId: 718352304
Change-Id: Icaa827e716a2d7aa7c0c644e0ccd2913b476e6fb
2025-01-22 06:02:58 -08:00
2624d524ba
Switch mj_solveM_island to use CSR representation
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PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
2025-01-20 18:36:04 -08:00
1d47a91c19
Add a test for mj_solveM2
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PiperOrigin-RevId: 717278730
Change-Id: I7507e569620c34f250482eec8402c08c793f4e48
2025-01-19 11:34:20 -08:00
240a7afdee
Add sensors for potential and kinetic energy.
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PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
2025-01-17 13:10:12 -08:00
c2138c3fb0
Do not copy the spec during attach.
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Use a reference count for managing the memory.
PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
2025-01-16 03:53:17 -08:00
2409a6e537
Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix.
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PiperOrigin-RevId: 714076988
Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
2025-01-10 09:23:55 -08:00
00010f5848
Compute diagonal indices in mj_sqrMatTDSparse
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PiperOrigin-RevId: 713714087
Change-Id: Icc8eae74e6e47ba1d12a6e9aa0d774ab006cfe38
2025-01-09 10:17:31 -08:00
daba00ca9d
Fix a box-box bad collision in NativeCCD.
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PiperOrigin-RevId: 713683497
Change-Id: I0c4cfd55d00faa196d8759046c87ee4ef74f01ab
2025-01-09 08:35:50 -08:00
f7d38dac62
Add recursive call to FindSpec for handling nested attachments.
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PiperOrigin-RevId: 713629578
Change-Id: I23efa5a86bac187fc42eb955d29cc03cbacfd9e0
2025-01-09 04:56:12 -08:00
6654d63438
Add spec lookup in the attached spec array using the compiler option pointer.
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This enables to find the spec associated with the compiler option stored in the objects, which do not necessarily belong to the model that owns them.
PiperOrigin-RevId: 713259419
Change-Id: I579c770147ff07ed2a5edd20e7a795ee7cc27147
2025-01-08 05:44:00 -08:00
8a5f092081
Allow CSR back-substitution to handle multiple vectors.
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PiperOrigin-RevId: 713229673
Change-Id: I7a5b43fe966cf9e482bd41e2eea6c30dd3ffa1d4
2025-01-08 03:32:16 -08:00
4d82ab5762
Add function to merge chains of indices.
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PiperOrigin-RevId: 712863690
Change-Id: I15652bec03dc9ce90e230788bd12b44b1a2b8217
2025-01-07 04:42:11 -08:00
1c69e64e6e
Extend test comparing dense and sparse pipelines to all solvers.
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PiperOrigin-RevId: 712862658
Change-Id: Ieb8515d32a225a098ab96055598a5d56bad7e476
2025-01-07 04:37:04 -08:00
674d227050
Standardize names of sparse fill-in pre-counting functions
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PiperOrigin-RevId: 712835830
Change-Id: I8e90dfa52af56ede917e1fd90b8d551898c244e5
2025-01-07 02:39:46 -08:00
f607d9554e
Check that there are no pending keyframes while writing a spec.
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This can happen when a body is detached without compiling or recompiling.
Also added error catching when trying to delete a body instead of detaching it.
Fixes #2327
PiperOrigin-RevId: 712526730
Change-Id: I4b48df83120fca12d475c85b3a54893841449653
2025-01-06 07:50:30 -08:00
ac11e5faa6
Add CSR implementation of mj_factorI
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PiperOrigin-RevId: 712498431
Change-Id: I13b52e53482ed97da8788875d4d95e2beb5ca7c1
2025-01-06 05:48:14 -08:00
7eb8231fda
Represent only the lower triangle in Newton solver's reduced dof-dof matrix.
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PiperOrigin-RevId: 712488529
Change-Id: Iad91c72654376539791d7856765a0d0ac9088251
2025-01-06 04:58:55 -08:00
ee6f4837f3
Auto-generate 3D mesh from convex OBJ if dim=3 in flex.
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This requires the user to explicitly specify an origin.
PiperOrigin-RevId: 712483526
Change-Id: Ie316a5eccb676bb918d4bb746795019145c10f5b
2025-01-06 04:35:59 -08:00
65048d6b8f
Do not use fast lookup for frames.
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Fast lookup is not possible since mjOBJ_FRAME > mjNOBJECT, which is the size of the objects maps used for the search.
Fixes #2328 .
PiperOrigin-RevId: 712479460
Change-Id: I7bcfa75ff8a1e288183d60ed4a44cab5bc6f4173
2025-01-06 04:17:41 -08:00
340c0d7c97
Fix a box-box bad collision in NativeCCD.
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PiperOrigin-RevId: 711773153
Change-Id: I8a526ef5933be19d863e67f40edeb95b0b1249cd
2025-01-03 09:23:57 -08:00
923f75fd23
Use only lower triangle in CSR back-substitution.
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PiperOrigin-RevId: 711686157
Change-Id: I4fc98cdfb927e5608ce3a99ea34890ce556fcfd7
2025-01-03 02:33:59 -08:00
4510c6d290
Further speedup to CSR back-substitution using dof_simplenum.
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PiperOrigin-RevId: 711440268
Change-Id: I81cd9a6a8b8ec78d08cfbc34f60a9216ea753833
2025-01-02 09:04:51 -08:00
ec322641b7
Fix bug in mj_mulM2.
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PiperOrigin-RevId: 710756899
Change-Id: I30c0725859ba0f1a59750dc89eebb9eba84fa71b
2024-12-30 11:14:56 -08:00
8dd360a2c0
Add some elements to test model.
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PiperOrigin-RevId: 710067190
Change-Id: I478085b8177ea8ebfa4190db8eb722c306c9793e
2024-12-27 08:18:46 -08:00
ea98c57921
Clean up engine_core_smooth_benchmark_test.
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PiperOrigin-RevId: 709573203
Change-Id: I461f259c33d74b3eaf0b6fe58124fe09418c5303
2024-12-25 07:44:25 -08:00
273ced428a
Add simple unit test for mjv_updateScene.
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PiperOrigin-RevId: 709334033
Change-Id: I69adc1d3ad0565f3684346749a372894d12ce99a
2024-12-24 06:44:02 -08:00
526637f118
Merge pull request #2276 from traversaro:reducetestboilerplate
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PiperOrigin-RevId: 707613522
Change-Id: Ic945c6b057b77f3462dbdb758139af12133f6a8f
2024-12-18 11:22:59 -08:00
ec230fa4b6
Prune face linear map in EPA.
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PiperOrigin-RevId: 705138358
Change-Id: I835ce7094d066b19ee39af48e0b83b51f7a0954e
2024-12-11 09:44:19 -08:00
3ca97248a3
Fix comparison in engine_core_constraint_test.
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(was comparing number to itself)
PiperOrigin-RevId: 705053943
Change-Id: I3d179ab4bb2ed1bc1b74b4edec7ce1114ad16b37
2024-12-11 04:11:13 -08:00
a364308d5a
Use GJK to recover contact points for sphere and capsule geoms in nativeccd.
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PiperOrigin-RevId: 704727907
Change-Id: Iff641b6a32637c48e9892dbaa60826617c54ed06
2024-12-10 08:53:27 -08:00
1c4c7b012c
CSR implementation of mj_solveLD.
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PiperOrigin-RevId: 704316200
Change-Id: Ibaff0284e40b3ebbe43bb489b6211ce739270e27
2024-12-09 09:34:17 -08:00
3a14ada308
Store index of diagonal element for C and D in mjData.
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PiperOrigin-RevId: 704287869
Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
2024-12-09 08:01:30 -08:00
756a8d716a
Reduce cmake test boilerplate
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All instances of mujoco_test in the code base were followed by
a call to target_link_libraries(<testname> fixture gmock).
As anyhow mujoco_test already was calling target_link_libraries
to some predefined list of targets (mujoco and gtest_main),
this PR adds to the list of default linked targets also fixture
and gmock, to reduce the boilerplate.
Furthermore, to completly remove the need for calling
target_link_libraries after a call to mujoco_test, this PR also
add to the mujoco_test macro the ADDITIONAL_LINK_LIBRARIES
argument, that can be used if a given test needs to link some
additional targets beside the default ones.
To permit to use these new features also for mujoco benchmarks,
this PR adds a MAIN_TARGET parameter to mujoco_test, to select
if gtest_main or another target is used to provide the main
entry point to the test executable.
2024-12-07 17:14:20 +01:00
10239a673b
Change from parent ID to parent pointer in mjCBody.
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This is required to have parent body info during attach and during body to frame tranformation for uncompiled models.
PiperOrigin-RevId: 703038426
Change-Id: Ib482059ba419a020860c649d6ea1b1088045f2e1
2024-12-05 02:32:56 -08:00
afc86ac1b3
Associate children of deleted body to the newly created frame in mjs_bodyToFrame.
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Also associate all children that need a parent body to the parent of the deleted body.
This is a bug that was causing the former children of the body that gets transformed to a frame to not be children of the new frame.
PiperOrigin-RevId: 702702853
Change-Id: I36d48f0446bc87c665b18d34e0b0609d82c70f51
2024-12-04 06:30:21 -08:00
0e7d2ef6df
Fix bug in box-sphere collider. Fixes #2206
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PiperOrigin-RevId: 702627603
Change-Id: Ie6015b7fa6f8507459325d692581b0f5f83aa159
2024-12-04 01:19:27 -08:00
13d3bdedad
Add debugging method for printing matrices to stderr to fixture.h
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PiperOrigin-RevId: 702301299
Change-Id: I01738b6634a91cde6b146475d06731471dcf3764
2024-12-03 05:20:54 -08:00
Tom Power