4fc69fa64d
Ensure that the Octree is balanced.
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This means that two adjacent nodes can only have at most one level of refinement difference.
Note: This is a small breaking change for mjWarp since the order of the children was flipped.
PiperOrigin-RevId: 806299445
Change-Id: Ia326a31c7a8162ae02d70c868d87779198e805be
2025-09-12 08:34:15 -07:00
ad5f07e060
Extract functions from mjv_updateCamera for calculating frames and frustums.
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PiperOrigin-RevId: 805770746
Change-Id: Id2a6022a2ee2e8b1a783debf54b470a9df81051a
2025-09-11 04:10:59 -07:00
017e7d5a73
Add light ids.
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PiperOrigin-RevId: 805755907
Change-Id: I92a1b1ea4ce1495c2746fd518f33ab2d1ad81399
2025-09-11 03:20:44 -07:00
767996ab17
Transform inputs to global before calling rayMesh in SDF collisions.
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PiperOrigin-RevId: 802523399
Change-Id: I889b020e4e721fbf471992f5c87446df601ba766
2025-09-03 06:12:34 -07:00
7a93e22514
Refactor MJMODEL_POINTERS into category-specific macros.
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PiperOrigin-RevId: 802089588
Change-Id: Id3443f88e8243c5167a23b6e42eb32a32f88e8d3
2025-09-02 04:41:50 -07:00
8d884585dd
Add target relative mouse motion actions.
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PiperOrigin-RevId: 802072880
Change-Id: I1ff204594a126f8e50df4c703709f70ec4dd458c
2025-09-02 03:39:49 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -07:00
b9900db00e
Extract memory allocation functions and core utilities
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PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
2025-09-01 03:38:25 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
b1c94c3761
Add printing of block-diagonalized matrices
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PiperOrigin-RevId: 800345520
Change-Id: I4996c5a7509cb451744d3e428a975cceee845ea5
2025-08-28 00:54:39 -07:00
7443e685ac
Allow contact sensor subtree1/subtree2 to be any body.
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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 11:00:39 -07:00
ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
a230aa60c5
Improve mj_addM and associated test
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- 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
debbd7c916
Fix cast; should be mjtGeom not mjtMouse.
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PiperOrigin-RevId: 798177495
Change-Id: I5d95446dd7f7f84052b60cb378acdd856c1e4d50
2025-08-22 05:47:49 -07:00
2f28473bc1
Remove transposed Jacobian fields from mjData
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No longer computed unconditionally, only ad-hoc where required.
PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
2025-08-21 07:21:24 -07:00
5fe4224ae7
Compute sparse Jacobian transpose inside solver.
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PiperOrigin-RevId: 797745776
Change-Id: I2ec429120d0c6eb51bec340619ab178389482e69
2025-08-21 06:55:48 -07:00
174a50442d
Allow transposing of sparse sub-matrices whose first row is > 0
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PiperOrigin-RevId: 797728559
Change-Id: I3c825118dae198333d357d2e4f248d00b0f5d8ce
2025-08-21 05:56:33 -07:00
c7a82c32dc
Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.
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See changelog herein for motivation and discussion.
PiperOrigin-RevId: 797392841
Change-Id: If50e9f09e1d07e8363169d3589c32097aeca2432
2025-08-20 11:30:13 -07:00
424226b640
Refactor mj_mulM to use CSR structure
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PiperOrigin-RevId: 796450207
Change-Id: I2a9d567732614674547c7ae02ff0d3d4bbf1b654
2025-08-18 09:09:29 -07:00
c2ff60e630
Decrease time step in shell examples.
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Also add bending damping.
PiperOrigin-RevId: 796446515
Change-Id: I4744003caf6146e5e00614a6016d1a6dfc42cca7
2025-08-18 09:00:10 -07:00
7c10a62f21
Improve island visualization colors and logic.
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- Make island visualization off by default
- Give it the keyboard shortcut 'N'
- Use HSV island coloring
PiperOrigin-RevId: 796375514
Change-Id: I3cc8d6f8142412c771b2b8e57e82e70000727770
2025-08-18 05:03:41 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -07:00
6b41fbe72a
Use CSR matrices for dof-dof index mappings
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PiperOrigin-RevId: 795895311
Change-Id: I1000e0ee98906ef35990e73236e85d6354487b82
2025-08-16 13:06:32 -07:00
c0096b51a4
Move ntree to mjModel allocator sizes
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PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
2025-08-16 09:16:41 -07:00
1447711037
Rename spec to sig in state-related API functions.
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(to avoid confusion with mjSpec)
PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
2025-08-16 08:38:25 -07:00
bbb70d98a4
Add utility functions for mapping between sparse matrix patterns.
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PiperOrigin-RevId: 795543910
Change-Id: I92be3afc3cd90020027737fffdba18c45e25f825
2025-08-15 11:22:35 -07:00
977f94e9df
Delete sparsity structures from mjData, use the ones in mjModel
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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
2025-08-14 09:13:02 -07:00
7eb13777f8
Put sparsity structures in mjModel, don't use them yet.
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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
2025-08-14 07:37:42 -07:00
dcdf0a9c5c
Use mj_rayMesh for computing an inexact SDF for mesh-SDF collisions.
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PiperOrigin-RevId: 794576123
Change-Id: I3c688056a5ed617a0787ccf1f4aa683f9409040f
2025-08-13 07:50:06 -07:00
84ba12e7b3
Clean up and standardize mj_printFormattedData
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PiperOrigin-RevId: 793087071
Change-Id: I99d45ccf6591af02ee26e7f800bfbcc872336eb1
2025-08-09 14:03:13 -07:00
ca4ca173ab
Fix oct_distance return value.
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PiperOrigin-RevId: 792924045
Change-Id: I42b8d0adaae7282d5c4e787fd1c85162720e977b
2025-08-09 00:33:38 -07:00
ed3ff15870
Update MuJoCo's version number following the 3.3.5 release.
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PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
2025-08-08 16:45:12 -07:00
50fa598d93
Update x_norm in tetrahedron case in GJK.
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This check is never called due to the fallback to gjkIntersection, however it's needed for debugging when disabling the fallback.
PiperOrigin-RevId: 792623394
Change-Id: I7178d9afae697bd22984688e89fd1865d3c6a37f
2025-08-08 07:52:00 -07:00
3c6e4f1ece
Clean up engine_core_smooth.c
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PiperOrigin-RevId: 792564094
Change-Id: I47b3f1953db5402acc49dac373a039c9c0bf1ad9
2025-08-08 04:05:13 -07:00
49f45a93c8
Guard against division by zero when calculating pressure in tactile sensor.
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PiperOrigin-RevId: 791641958
Change-Id: I457bc7f55c0b03e14b9c3944935866ede14f1d51
2025-08-06 05:07:12 -07:00
e543ba95c5
Fix comments in meshNormals.
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PiperOrigin-RevId: 791169316
Change-Id: I540f06a56862774ae0feb666ab38762853cb1c36
2025-08-05 05:27:41 -07:00
7b9f5bdae7
Fix bug in raycast to hfield. Fixes #2765
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PiperOrigin-RevId: 790784429
Change-Id: Ib2319722796ed510afed960bbf5cebc86cf185a9
2025-08-04 09:40:59 -07:00
f2a2afeb03
Fix address bug in meshEdgeNormals in doing edge multiccd with meshes.
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PiperOrigin-RevId: 790731924
Change-Id: Ia475b1f01731518166f229c25ebffd1fbf7c7939
2025-08-04 07:03:14 -07:00
7baaa39846
Add SDF geom to test/testdata/model.xml.
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Also, when a mesh has both an octree and a bvh, render only the octree.
PiperOrigin-RevId: 790680831
Change-Id: Iaf3896933f6728af4db1eaa83ff5b06558ab0d19
2025-08-04 03:53:51 -07:00
100b1a06fd
Decrease opacity of taxels with zero value.
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This prevents the taxels from being occluded by the convex hull for meshes that do not provide face connectivity.
PiperOrigin-RevId: 790420616
Change-Id: I543fd7b52e4625d921b6b5b5b77b4720020df42a
2025-08-03 08:36:39 -07:00
80befd64ae
Do not cull mjGEOM_TRIANGLE.
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PiperOrigin-RevId: 789723631
Change-Id: I8a5aaa78a9fe63458c07b823c7550846c14413b1
2025-08-01 05:28:30 -07:00
ee63b82e1c
Fix the format string when printing uintptr_t
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PiperOrigin-RevId: 789333383
Change-Id: I32b190ffa6579a93970650df58865083aa0a18ab
2025-07-31 07:50:45 -07:00
23fa7c00d5
Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM.
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PiperOrigin-RevId: 789321991
Change-Id: Ic25fab876c347fc75f5ca24cad09e8fd972f035f
2025-07-31 07:08:33 -07:00
82cf27992d
Initialize variables in copyM2Sparse
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PiperOrigin-RevId: 788875024
Change-Id: I87068a3878e0b6bc5227bb61e84c07e75e448eea
2025-07-30 06:16:17 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
4575089f48
Prevent ray casting from stopping at the SDF bounding box.
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The SDF value of the closest point on the bounding box is added to the distance from the bounding box when the query point is outside of it.
PiperOrigin-RevId: 788377943
Change-Id: Id8e489a1d112918c484f5615223d557f2d14b822
2025-07-29 03:10:02 -07:00
6416e548aa
Merge pull request #2348 from jjyyxx:patch-3
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PiperOrigin-RevId: 785518837
Change-Id: I2bbdcb6aea0ff3edfa354389ef758c2d34b93f68
2025-07-21 11:49:39 -07:00
3283fb8655
Fix sign in cylinder support function.
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PiperOrigin-RevId: 785394029
Change-Id: I010edab0ba8734a9b91626669fa309a0ddb346e5
2025-07-21 05:12:16 -07:00
db72d0d53c
Clamp dist in mj_geomDistanceCCD. Closes #2710
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PiperOrigin-RevId: 785393424
Change-Id: I508cd2ad6f47ca022cc54f228247ca498fda691f
2025-07-21 05:09:38 -07:00
5e666635f6
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
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PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
2025-07-15 09:08:22 -07:00
Alessio Quaglino