627fffdef9
Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.
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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
2025-05-13 10:20:32 -07:00
436b5a8e1f
Add mju_addToSymSparse
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- Internal engine function to add a symmetric sparse matrix to a dense matrix.
- Also minor refactors to related functions.
PiperOrigin-RevId: 757954336
Change-Id: I8d8a48bcbbd5d6c618ae097a87df2bc1e6f5ef1d
2025-05-12 16:19:43 -07:00
755564a348
Remove unused code related to legacy island implementation.
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Also fix a docstring.
PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
2025-05-12 15:39:16 -07:00
8a7c42c747
Add SDF functions to public API.
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PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
2025-05-12 10:53:39 -07:00
dfe22f7ef7
Remove stale reference to uncompressed sparse matrix.
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PiperOrigin-RevId: 757775265
Change-Id: Ic18c0c89ab84285a7d93e24c65e50832ebc53c6f
2025-05-12 08:30:43 -07:00
85dd78d6f3
Add private function mj_makeM.
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PiperOrigin-RevId: 757689756
Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
2025-05-12 03:52:38 -07:00
9accc7ae51
Update mj_energyPos.
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PiperOrigin-RevId: 757678945
Change-Id: If236b9e8f376a2673abc87e818326e9188f6c15a
2025-05-12 03:14:43 -07:00
b0b2c48190
Update comment in mj_energyPos.
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PiperOrigin-RevId: 757670899
Change-Id: I3827089f4298b3800c20ed64ca0ccfcf3ed83d92
2025-05-12 02:45:45 -07:00
baf84265b8
Improve wrap_circle.
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PiperOrigin-RevId: 756704385
Change-Id: Id44ba317c6072790763a958f4227a76278d3ab74
2025-05-09 04:13:14 -07:00
ecb769fc3a
Refactor islands to be memory contiguous.
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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
2025-05-07 05:06:27 -07:00
7742f62803
Add mju_mulSymVecSparse, private engine function
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Multiply sparse symmetric matrix (only lower triangle represented) by vector
PiperOrigin-RevId: 752926934
Change-Id: I5aaae1266256aa88aee8c25e242b7a7c51ea8dd7
2025-04-29 16:33:54 -07:00
1766a388cc
Improve warmstarting if island structure exists.
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PiperOrigin-RevId: 752901506
Change-Id: I062d14df7da7d9dc1a2c1c30a16d0db7215af336
2025-04-29 15:18:14 -07:00
8078a45727
Add private functions mju_blockDiag and mju_blockDiagSparse
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PiperOrigin-RevId: 752815446
Change-Id: Ia7f73160315ce57b78a2c34bc781f00e1b0f05c4
2025-04-29 11:31:03 -07:00
2545ec5383
Don't call getchar on error.
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PiperOrigin-RevId: 752680097
Change-Id: Idce87a3e33ebce703bf3eedc18026f6a13d05f35
2025-04-29 04:37:22 -07:00
4137a4c774
Bump version to 3.3.3 following the 3.3.2 release
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PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
2025-04-28 16:09:25 -07:00
9e72874801
Remove EPA tolerance in the discrete case in nativeccd.
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PiperOrigin-RevId: 750649926
Change-Id: I8ab317cd6b227c9486a2916ae9c6445906c23401
2025-04-23 10:52:14 -07:00
8f768be2da
Remove solver_nisland field from mjData.
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PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
2025-04-23 03:27:41 -07:00
c2ac0d724e
Add mju_gather and mju_scatter, private engine functions.
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PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
2025-04-22 10:33:33 -07:00
99490163df
Prevent NaN in cylinder SDF.
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Fixes #2573 .
The correction matches the one used in MJX (see _cylinder_grad in collision_sdf.py).
PiperOrigin-RevId: 747887406
Change-Id: I1a4f1ac769adb96c98665eace7ce54fb09a7d3a2
2025-04-15 08:34:05 -07:00
440ce5eb7a
Update the version number to 3.3.2 following the 3.3.1 release.
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PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
2025-04-10 13:17:20 -07:00
b1f8d444f2
Fix bug in replaceSimplex3 in nativeccd.
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PiperOrigin-RevId: 746014344
Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
2025-04-10 07:04:27 -07:00
25126e88c7
Move mju_cholFactorCount to engine_util_solve.
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PiperOrigin-RevId: 746011856
Change-Id: If9812251420053644f4eca81adb5116d370ee524
2025-04-10 06:56:31 -07:00
d3664b5d01
Avoid square root in mju_makeFrame
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PiperOrigin-RevId: 745974380
Change-Id: I90879fac05e62daf60acd2223f814e833634b242
2025-04-10 04:41:23 -07:00
85b323c7fb
Remove square roots when possible in EPA improving numerical precision.
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PiperOrigin-RevId: 745559836
Change-Id: I3f8b23406e93ccfc4bc3499bfbed829b35462a74
2025-04-09 06:18:51 -07:00
96dda6ea75
Add tendon actuator force limits and tendon actuator force sensor.
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PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:16:35 -07:00
606f00f802
Remove contact pruning with box-box collisions in nativeccd and add benchmarks.
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PiperOrigin-RevId: 744732382
Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
2025-04-07 08:34:04 -07:00
58234b2217
Replace mjMAXVAL with numerical max limit where necessary in nativeccd.
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PiperOrigin-RevId: 744693156
Change-Id: I72c3122701be281d468291dfc2ad1e4bb1da5a1c
2025-04-07 05:59:02 -07:00
d05251af2a
Add tendon armature
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PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
2025-04-04 07:44:04 -07:00
08d22baea1
Fix bug in horizon code in nativeccd where parallel faces are included in horizon.
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PiperOrigin-RevId: 742687622
Change-Id: I4a180cb9c7451e0a2c22ffd77b7b6f6fd68836a4
2025-04-01 07:21:14 -07:00
c0a7ea1edb
Added the element type mjOBJ_SPEC for mjSpec.
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PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
2025-04-01 06:51:49 -07:00
9ecec6f238
Fix bad contact from passing through polytope2 in nativeccd.
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PiperOrigin-RevId: 742666700
Change-Id: I76034579b4e663f9abfa265ec3e2bc608f631f59
2025-04-01 06:11:20 -07:00
8bcfe07e14
Fix potential division by zero in mj_tendonDot.
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PiperOrigin-RevId: 742246626
Change-Id: I1f897bd0ca28e0efdffc5a93fadca35221eaeb38
2025-03-31 06:41:26 -07:00
d6943731b2
Fix bug in nativeccd multiccd.
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PiperOrigin-RevId: 740495321
Change-Id: I7eaa0da8514e27c233d49567c276d1d238808d1f
2025-03-25 14:56:21 -07:00
157b074116
Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData.
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PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
2025-03-25 09:37:49 -07:00
c931565fdc
Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon.
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Notes:
- Currently always uses dense math, even for sparse models. This should be easy to change in the future.
- Does not support geom wrapping. This is possible but harder, requires derivatives of mju_wrap.
PiperOrigin-RevId: 740378741
Change-Id: Id39ef2c4bfbb7ee11ec33c97d7d83140441cdab2
2025-03-25 09:36:30 -07:00
12b40b948e
Remove MuJoCo stack calls in nativeccd.
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1. There is now thread local static memory for use with a conservative max number of iterations needed for contact.
2. For possible needs of high precision contact recovery with large iteration numbers (i.e. ellipsoid-ellipsoid collisions), there are callbacks to allocate memory when needed.
PiperOrigin-RevId: 739187134
Change-Id: I3d210f75218922d969c78465da3fe50da4fe3080
2025-03-21 08:20:51 -07:00
be64747166
add mjs_detachDefault to delete a default class from mjSpec
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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
a1b9ffd124
Fix memory over-allocation in nativeccd.
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PiperOrigin-RevId: 738383181
Change-Id: Ibf9e2b146da671e8d3a48339c8f4c6813f537456
2025-03-19 07:08:21 -07:00
dc50fbbb9b
Add safeguard if n is invalid in GJK.
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PiperOrigin-RevId: 738340065
Change-Id: I2288eb731621e5b84dcc0f078d8dbd84dca94cd4
2025-03-19 04:21:11 -07:00
de48f4178f
Add missing term in mj_jacDot
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PiperOrigin-RevId: 735686836
Change-Id: I813ca46f71e368ddc97a6d2e540102137b31dbcf
2025-03-11 03:01:29 -07:00
a816ca6dd5
Use qLDiagInv instead of qLD in engine_vis_interact.c
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PiperOrigin-RevId: 734399015
Change-Id: I97c80a8b25dbd40e86560c328cc786a0bed6a2d1
2025-03-06 21:15:36 -08:00
0f563ecf31
Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
2025-03-04 17:34:35 -08:00
7d9df8c9a9
Fill-in qM CSR matrix structure on mjData (currently unused).
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PiperOrigin-RevId: 733258529
Change-Id: I903548ae60139e4858550194e1aedf0efa2f3033
2025-03-04 03:20:11 -08:00
8f37ae1bf2
Add missing fields in mj_printData, don't print integration-related fields if identically zero.
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PiperOrigin-RevId: 732917127
Change-Id: Ia5fe8e4b6c2485fcf4336847535c1cc72b9d6d62
2025-03-03 07:34:14 -08:00
7651cb1b33
Copy texture coordinates from OBJ into flex. Fixes #2464 .
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PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
2025-02-28 06:04:19 -08:00
06e217df7e
[MJ3.3.1] Bumping internal version number.
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PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
2025-02-27 14:53:28 -08:00
9996500de9
update the version number to 3.3.0 instead of 3.2.8
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PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
2025-02-26 11:42:55 -08:00
ed16f2daf2
Set nativeccd as default.
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PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
4f691eeae4
Fix minor issues in EPA in nativeccd.
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PiperOrigin-RevId: 731327356
Change-Id: Iba8215b7991ef74bf890c8da7e9332474e19e9c3
2025-02-26 08:28:35 -08:00
bd66fbd046
Fix return value in mesh edge contact in nativeccd.
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PiperOrigin-RevId: 730924994
Change-Id: Iab4f26da126713bae6629eef502bb2aad690c595
2025-02-25 09:54:05 -08:00
Yuval Tassa