2b38148d24
Explicitly zero out cinert of the world body.
Saran Tunyasuvunakool
2023-07-04 08:25:10 -07:00
95167fab2d
Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly.
Kyle Bayes
2023-07-04 08:08:14 -07:00
82e85e24e5
Fix nv precounting bug for dense allocation in contact constraint.
Kyle Bayes
2023-07-04 07:26:00 -07:00
1d6d6f33bf
Cosmetic clean-up and a few micro-optimisations for primitive colliders.
Yuval Tassa
2023-06-26 15:35:40 -07:00
ca3823343d
fix typo in computation.rst
Ruiyu G
2023-06-22 17:28:56 -07:00
14cc32bbe5
Fix typo.
Ruiyu G
2023-06-22 16:39:44 -07:00
c50c92ccc8
Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization.
Yuval Tassa
2023-06-21 13:18:33 -07:00
6434001747
Remove "Main struct types" subsection from APItypes.rst, for quicker access (fewer clicks) to main struct reference.
Yuval Tassa
2023-06-11 19:59:27 -07:00
b3b05c0435
remove extra new line when editing
JC
2023-06-09 22:14:32 -05:00
d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
Yuval Tassa
2023-06-07 09:39:28 -07:00
cce7fb04d1
Fix out of bounds write in clampedDiff in engine_derivative_fd.c
Yuval Tassa
2023-05-25 06:24:27 -07:00
c66d79409c
Change mj_ray behaviour to match geom visualisation conventions: - Planes and height-fields respect mj_ray's geom_group argument. - The flg_static argument now applies to all static geoms, not only those directly in the world body.
Yuval Tassa
2023-05-24 13:50:32 -07:00
d82465d710
Fix use of uninitialised memory.
Yuval Tassa
2023-05-24 04:39:16 -07:00
03d6d27f64
Use mesh BVH for speeding up ray mesh intersection.
Alessio Quaglino
2023-05-22 12:04:33 -07:00
fbbdf70401
Make XMLWriterLocaleTest hold a copy of the old locale string.
Saran Tunyasuvunakool
2023-05-22 05:33:47 -07:00
bb8044e5f3
Set minimum tree slider depth to 0.
Yuval Tassa
2023-05-22 02:39:11 -07:00
e338034995
Fix links in README.
Yuval Tassa
2023-05-19 07:04:35 -07:00
f5936eac7b
- Mention mujoco_wasm in README. - Move Documentation and Getting Started above Installation. - Delete link to the acquisition and open-sourcing announcements.
Yuval Tassa
2023-05-19 06:11:06 -07:00
dee9a958b4
Tweak cube XML.
Kevin Zakka
2023-05-17 11:26:18 -07:00
dab49d487c
Use mesh BVH for speeding up ray mesh intersection.
Alessio Quaglino
2023-05-16 11:09:53 -07:00
9db444cd46
Fixed texture mapping bug. Before this fix, the first texture coordinate was not correctly processed.
Alessio Quaglino
2023-05-16 10:24:15 -07:00
9d1a21f99d
Use mesh BVH for speeding up ray mesh intersection.
Alessio Quaglino
2023-05-16 08:16:56 -07:00
4ea8218466
If inertia is being visualised, draw body frames at the inertial frame.
Yuval Tassa
2023-05-16 07:54:34 -07:00
ca9c55d22b
Fix typo in user_mesh.cc.
Kevin Zakka
2023-05-15 10:42:24 -07:00
31c265782b
add support for implicitfast integrator from GUI.
Tom Erez
2023-05-15 07:49:23 -07:00
871a2a7c8e
Check that all face indices of a mesh exist in the vertex array.
Alessio Quaglino
2023-05-15 02:55:00 -07:00
39723891ce
Use the correct string length argument to mj_loadXML.
Nimrod Gileadi
2023-05-14 14:39:50 -07:00
770b4b363a
Added optional smoothing to muscle dynamics: - muscle actuators take a new tausmooth attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales. - mju_muscleDynamics takes 3 parameters, adding width of smoothing sigmoid.
Yuval Tassa
2023-05-12 04:58:17 -07:00
taylor howell