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
6c880eb0fa
Clean up mju_sqrMatTDSparse
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PiperOrigin-RevId: 711486739
Change-Id: I5f9145dcd8522a9cb372cbdf60611d7d05cb524e
2025-01-02 12:02:10 -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
69c9ac074a
Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2.
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- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).
PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
2024-12-30 15:24:36 -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
e42370c982
Avoid allocation and copying in implicit solver's addJTBJSparse
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PiperOrigin-RevId: 710679558
Change-Id: Ie75fdcd1127ff619c2668f568ab6a8a11e079dda
2024-12-30 04:19:10 -08:00
8cb253b6ca
Fix typos.
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PiperOrigin-RevId: 710678815
Change-Id: Iab6f603f8f4d782ac7f34140add39e1f37625167
2024-12-30 04:15:29 -08:00
0336114a88
Add restrict to output variable in mj_solveLDs.
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PiperOrigin-RevId: 710358020
Change-Id: Ia63048161d7622f21954e98346b7ff4e37ecb342
2024-12-28 16:05:18 -08:00
a8a9607712
Inline mju_dotSparse in engine_util_sparse.h
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PiperOrigin-RevId: 709577108
Change-Id: I76547122b5780bec76a12384effcb66315f84e13
2024-12-25 08:09:42 -08:00
3f855f32d9
Fix stack allocation leak in mjv_addGeoms()
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PiperOrigin-RevId: 708356387
Change-Id: If3d227028ea8f809390911b578878d985d9d7b1a
2024-12-20 10:11:18 -08:00
b26d6f0466
Disable tendon catenary visualization when tendon is actuated. Add note about catenary visualization.
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PiperOrigin-RevId: 706161179
Change-Id: Ifaf571e039306309869078d1a0bcf9a69f1fe9de
2024-12-14 01:54:40 -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
2691887500
Add engine-internal convenience macro for allocating typed arrays, improve error message.
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PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
2024-12-11 09:04:44 -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
537fc2ff45
Use diagonal index to speed up mju_solveLUSparse.
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PiperOrigin-RevId: 704303282
Change-Id: I72c3fbcd31a5564fc792b73efe9d12a151b4d60f
2024-12-09 08:53:25 -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
0ba717a653
Print supernode values in mj_printData
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PiperOrigin-RevId: 702677257
Change-Id: Icecc5dd8604fcadc02bba5fc69c9fd5fd4fbd825
2024-12-04 04:41:10 -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
c90a63a926
Update the version number to 3.2.7 following the 3.2.6 release.
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PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
2024-12-02 15:30:52 -08:00
300450f8b8
Add circle to flexcomp and remove rope and loop from composite.
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Add pulley example to show a circle use case.
Switch on flex edge rendering by default (no effect when flex skin is rendered).
PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
2024-11-27 10:14:25 -08:00
203602b01f
Move computation of flex_vert0 to user_mesh.cc.
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This removes the dependency of flex_vert0 from mj_flex and mjData.
PiperOrigin-RevId: 700382297
Change-Id: I0b6d023c2e1ba14fa92417b65bfc288f37c223ae
2024-11-26 10:17:16 -08:00
7e46e21ef3
Add mju_mat2Rot.
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This function extracts the 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. It is based on the paper "A robust method to extract the rotational part of deformations" by Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin.
PiperOrigin-RevId: 700006006
Change-Id: I77550993233dea9cdf68601762a3ae7ded749bdf
2024-11-25 09:19:10 -08:00
1d64362adc
Add mjv_copyModel to copy mjModel, skipping large arrays not required for abstract visualization.
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This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.
PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
2024-11-22 09:38:08 -08:00
cedd602bc1
Compress dense rows in mjData.actuator_moment
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PiperOrigin-RevId: 698516133
Change-Id: Idd861c2b63d77748a6282d72f8241eaeeb88006c
2024-11-20 14:10:28 -08:00
1767c11d46
Direct assignment of mjData.moment_rownnz
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This allows for better sanitizer coverage, errors will be caught upon read rather than upon use.
PiperOrigin-RevId: 698458735
Change-Id: I3003f3a122b83bbf42a6510260abbb8353c56a40
2024-11-20 11:24:36 -08:00
a1b18e707a
Compress actuator_moment memory using nJmom <= nu x nv.
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PiperOrigin-RevId: 698446692
Change-Id: I49c9633e12129a1e690724db82d1f11204e41d9c
2024-11-20 10:53:07 -08:00
0cb35a0fe1
Populate missing fields in mjCCDStatus in GJK code.
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PiperOrigin-RevId: 696965759
Change-Id: Idf0799a44876e95fc8d688dd39663a34f1808b27
2024-11-15 12:24:37 -08:00
f91588a171
Fallback to polytope3 if tetrahedron from GJK has the origin on a face (most likely due to a numerical issue).
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PiperOrigin-RevId: 696872633
Change-Id: I58edb0fdc30ad472c8f1338df728e8d42c25fc39
2024-11-15 06:53:00 -08:00
0a0de6615d
Back out of gjkIntersect when convergence fails due to algorithm oscillating between two support points. Also, fix related bug in box support function.
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PiperOrigin-RevId: 696482893
Change-Id: Icedaf5489b761b8bf03ec30558b5d1128668a647
2024-11-14 05:12:32 -08:00
536c60a0ac
Print arena usage percentage in mjData print.
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PiperOrigin-RevId: 696464274
Change-Id: Ib794148e037521118138bd72c021dbe086c9681a
2024-11-14 03:52:41 -08:00
0e8cca93e1
Refactor nativeccd interface.
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- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).
PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
2024-11-13 10:28:45 -08:00
eb77d5b933
Fix bug in mesh hillclimbing support function.
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PiperOrigin-RevId: 695710616
Change-Id: I2127aee584c13efb44d70cc4e267354ca0b80bf0
2024-11-12 06:36:55 -08:00
414b677eb8
print memory footprint of model and data
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PiperOrigin-RevId: 694088011
Change-Id: I3b743df2a59f554414b440aebfa6bf0d0e29b2d8
2024-11-07 05:56:02 -08:00
18f88efe17
Contact visualization: if penetration is deeper than height, extend cylinder to show computed depth.
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PiperOrigin-RevId: 693869892
Change-Id: I1c873e3803286d6a636336246f498552617e978b
2024-11-06 14:46:31 -08:00
276f5b04cd
Bump MuJoCo version to 3.2.6.
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PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
2024-11-05 14:13:08 -08:00
a51f346059
Use sparse (uncompressed) actuator_moment in mj_transmission.
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PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
2024-11-01 08:06:28 -07:00
c9f78ad8a8
Rename nnzJ to nJ in mjData.
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This naming is more consistent.
PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
2024-10-31 10:43:10 -07:00
18682aac6a
Fix function definition formatting.
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PiperOrigin-RevId: 691782530
Change-Id: Ib1611285e77e274b17074d5f09ede00cdc0c6f0f
2024-10-31 06:45:41 -07:00
94bbf297fc
Replace flex_xvert0 with flex_vert0
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`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.
PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
2024-10-31 06:30:36 -07:00
70d944b458
micro-optimization to mju_mulMatTVecSparse
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PiperOrigin-RevId: 691431137
Change-Id: I95f94ff38ae911194b21aa220af35c7374af9739
2024-10-30 08:41:18 -07:00
ce5f8b4728
Fix typo in mju_muscleDynamics comments.
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PiperOrigin-RevId: 690949399
Change-Id: I8102fb72cce909786eab0771467c7f6f751792bf
2024-10-29 03:31:28 -07:00
864b805a6e
Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179
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The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.
PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
2024-10-28 10:44:04 -07:00
d95befaddd
Merge pull request #2180 from pschmutz:schmutz/error_handling_when_loading_plugins
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PiperOrigin-RevId: 690567811
Change-Id: I2d2c4e37e74ab4d97c0add5633feb766ef66dd08
2024-10-28 05:11:14 -07:00
d8494fef3b
Remove deprecated mjv_makeConnector function.
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PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
2024-10-28 04:51:47 -07:00
a36f2cccb6
Add nnz argument for size of allocated memory to mju_dense2sparse and check if this number is too small for number of non-zeros.
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PiperOrigin-RevId: 690545825
Change-Id: I0e31cb907a1151cb2e4766d5f0cdfecb5629a2a6
2024-10-28 03:46:50 -07:00
7cf457286d
Print error instead of failing silently when loading plugins
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Previously the return value of dlopen was ignored, meaning a failed load of a shared library would stay unnoticed
2024-10-26 16:22:47 +02:00
a3ea01e57e
Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.
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PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
2024-10-24 09:15:23 -07:00
e14aebfd16
Expose mju_sparse2dense to public API.
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PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
2024-10-23 09:01:25 -07:00
0c97dcf1fd
Avoid overflowing the stack when allocating memory for polytope in EPA.
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PiperOrigin-RevId: 688641864
Change-Id: I3eef7e821ffbfa8d97a946ecf86d098cb4f0c233
2024-10-22 12:11:22 -07:00
Yuval Tassa