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071af3b0155c14fd1d890ee206a8da9752e4b51a
Mujoco_WASM/src/engine
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Matthew Bennice 071af3b015 Implement threading for island constraint solving. 
Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
2023-10-05 21:05:19 -07:00
..
CMakeLists.txt
Make asan instrumentation in mj_(mark|free)Stack cheaper.
2023-09-12 06:06:04 -07:00
engine_array_safety.h
Use C++ strcpy_arr in xml_native_reader_test.
2022-06-16 07:15:14 -07:00
engine_callback.c
Add spaces around comparison operators in engine source files.
2023-05-28 05:02:34 -07:00
engine_callback.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_collision_box.c
Tighten const qualifiers in collision functions.
2023-06-27 10:44:58 -07:00
engine_collision_convex.c
Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage.
2023-08-14 11:17:47 -07:00
engine_collision_convex.h
Tighten const qualifiers in collision functions.
2023-06-27 10:44:58 -07:00
engine_collision_driver.c
Implement threading for island constraint solving.
2023-10-05 21:05:19 -07:00
engine_collision_driver.h
Eliminate mjContact copying during collision detection.
2023-09-04 04:46:26 -07:00
engine_collision_primitive.c
Tighten const qualifiers in collision functions.
2023-06-27 10:44:58 -07:00
engine_collision_primitive.h
Tighten const qualifiers in collision functions.
2023-06-27 10:44:58 -07:00
engine_collision_sdf.c
Rename mj_stackAlloc to mj_stackAllocByte.
2023-09-18 10:53:35 -07:00
engine_collision_sdf.h
Add Signed Distance Field to collision geometries.
2023-08-16 09:15:23 -07:00
engine_core_constraint.c
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
2023-10-03 09:32:24 -07:00
engine_core_constraint.h
Add mj_constraintUpdate_island.
2023-09-04 10:33:34 -07:00
engine_core_smooth.c
Clear mjData.actuator_moment more selectively.
2023-09-18 09:27:03 -07:00
engine_core_smooth.h
Add private function mj_solveM_island for mass matrix solve with sub indices corresponding to one island.
2023-08-31 05:11:00 -07:00
engine_crossplatform.cc
Make asan instrumentation in mj_(mark|free)Stack cheaper.
2023-09-12 06:06:04 -07:00
engine_crossplatform.h
Make asan instrumentation in mj_(mark|free)Stack cheaper.
2023-09-12 06:06:04 -07:00
engine_derivative_fd.c
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_derivative_fd.h
Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
2023-04-28 09:04:41 -07:00
engine_derivative.c
Replace mjMIN and mjMAX with mju_min and mju_max, where possible.
2023-09-19 05:40:41 -07:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Implement threading for island constraint solving.
2023-10-05 21:05:19 -07:00
engine_forward.h
Fix typo in mujoco.h
2023-01-09 04:04:25 -08:00
engine_inverse.c
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Implement threading for island constraint solving.
2023-10-05 21:05:19 -07:00
engine_io.h
Update XML parsing to store asset path so that assets can be recovered and sent to external renderers
2023-09-21 10:27:52 -07:00
engine_island.c
Rename mj_stackAlloc to mj_stackAllocByte.
2023-09-18 10:53:35 -07:00
engine_island.h
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_macro.h
Indent a couple of #ifdef bodies.
2023-09-04 09:32:35 -07:00
engine_passive.c
Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage.
2023-08-14 11:17:47 -07:00
engine_passive.h
Break out passive force functions into a new file engine_passive.c
2023-03-03 08:32:16 -08:00
engine_plugin.cc
Add modified callback to resource providers (for caching purposes).
2023-08-30 06:53:20 -07:00
engine_plugin.h
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_print.c
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
2023-10-03 09:32:24 -07:00
engine_print.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_ray.c
Add [SdfLib](https://github.com/UPC-ViRVIG/SdfLib) plugin to first-party SDFs.
2023-09-14 06:42:42 -07:00
engine_ray.h
Use mesh BVH for speeding up ray mesh intersection.
2023-05-22 12:05:20 -07:00
engine_resource.c
Add modified callback to resource providers (for caching purposes).
2023-08-30 06:53:20 -07:00
engine_resource.h
Refactor VFS logic out of ResourceProvider plugin code.
2023-08-30 04:47:24 -07:00
engine_sensor.c
Specify camera parameters using standard robotics conventions.
2023-09-28 05:19:19 -07:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_solver.c
Fix potential out-of-range write in solver statistics saving.
2023-09-28 00:58:13 -07:00
engine_solver.h
Add island support to CG solver.
2023-09-15 05:47:24 -07:00
engine_support.c
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
2023-10-03 09:32:24 -07:00
engine_support.h
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_util_blas.c
PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1.
2023-09-11 11:09:53 -07:00
engine_util_blas.h
Fix typo.
2023-08-28 10:29:48 -07:00
engine_util_container.c
Rename mj_stackAlloc to mj_stackAllocByte.
2023-09-18 10:53:35 -07:00
engine_util_container.h
Handle initial_capacity = 0 in mju_arrayListCreate.
2023-08-22 04:04:02 -07:00
engine_util_errmem.c
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_util_errmem.h
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_util_misc.c
Add maxuse_threadstack to mjData
2023-09-21 09:41:00 -07:00
engine_util_misc.h
Add maxuse_threadstack to mjData
2023-09-21 09:41:00 -07:00
engine_util_solve.c
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_util_solve.h
Add utility functions for banded-then-dense symmetric matrices.
2023-05-02 05:58:08 -07:00
engine_util_sparse_avx.h
Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.
2023-09-01 07:40:16 -07:00
engine_util_sparse.c
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_util_sparse.h
Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.
2023-09-01 07:40:16 -07:00
engine_util_spatial.c
Improve mju_cross implementation.
2023-07-11 12:35:02 -07:00
engine_util_spatial.h
Fix comment typos.
2023-03-06 06:37:42 -08:00
engine_vfs.c
Add modified callback to resource providers (for caching purposes).
2023-08-30 06:53:20 -07:00
engine_vfs.h
Refactor VFS logic out of ResourceProvider plugin code.
2023-08-30 04:47:24 -07:00
engine_vis_init.c
Add Signed Distance Field to collision geometries.
2023-08-16 09:15:23 -07:00
engine_vis_init.h
Add optional azimuth and elevation to initial free camera.
2022-08-05 01:04:02 -07:00
engine_vis_interact.c
Specify camera parameters using standard robotics conventions.
2023-09-28 05:19:19 -07:00
engine_vis_interact.h
Use mesh BVH for speeding up ray mesh intersection.
2023-05-16 11:10:38 -07:00
engine_vis_state.c
Replace glfw.get_time with time.time in the Python viewer timing logic.
2023-09-06 09:52:12 -07:00
engine_vis_state.h
Pass mjvOption to plugin visualize callback.
2023-04-21 08:44:20 -07:00
engine_vis_visualize.c
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
2023-10-03 09:32:24 -07:00
engine_vis_visualize.h
Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization.
2023-06-21 13:19:36 -07:00