chenlin/Mujoco_WASM
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Mujoco_WASM/test/engine
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Yuval Tassa 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. 
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
2025-03-04 17:34:35 -08:00
..
testdata
Support edge contacts with multiccd in nativeccd.
2025-02-24 09:48:43 -08:00
CMakeLists.txt
Add simple unit test for mjv_updateScene.
2024-12-24 06:44:02 -08:00
engine_collision_box_test.cc
Fix bug in box-sphere collider. Fixes #2206
2024-12-04 01:19:27 -08:00
engine_collision_convex_test.cc
Make mj_gjkPenetration have the same signature as LibCCD penetration functions.
2024-08-09 07:40:17 -07:00
engine_collision_driver_test.cc
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_gjk_test.cc
Fix bugs in nativeccd with collisions with margin.
2025-02-25 08:51:21 -08:00
engine_collision_sdf_test.cc
Add Signed Distance Field to collision geometries.
2023-08-16 09:15:23 -07:00
engine_core_constraint_test.cc
Fix comparison in engine_core_constraint_test.
2024-12-11 04:11:13 -08:00
engine_core_smooth_test.cc
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.
2025-03-04 17:34:35 -08:00
engine_derivative_test.cc
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.
2025-03-04 17:34:35 -08:00
engine_forward_test.cc
Add test for armature, model will be used in upcoming improved documentation for armature.
2025-01-26 12:01:12 -08:00
engine_inverse_test.cc
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_io_test.cc
Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix.
2025-01-10 09:23:55 -08:00
engine_island_test.cc
Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179
2024-10-28 10:44:04 -07:00
engine_passive_test.cc
Add automatic free-joint alignment.
2024-09-04 10:07:33 -07:00
engine_plugin_test.cc
Add termination character to flattened plugin attributes if empty.
2025-02-24 11:07:18 -08:00
engine_print_test.cc
Disable MSAN poisoning when printing using engine_print.
2022-06-20 08:57:54 -07:00
engine_ray_test.cc
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
2024-06-16 10:02:36 -07:00
engine_sensor_test.cc
Add sensors for potential and kinetic energy.
2025-01-17 13:10:12 -08:00
engine_solver_test.cc
Represent only the lower triangle in Newton solver's reduced dof-dof matrix.
2025-01-06 04:58:55 -08:00
engine_sort_test.cc
Replace mjQUICKSORT with faster, native sorting function. fixes #1638
2024-10-22 06:05:12 -07:00
engine_support_test.cc
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.
2025-03-04 17:34:35 -08:00
engine_thread_test.cc
Add missing models to all_models and all_test_models.
2023-10-18 08:59:54 -07:00
engine_util_blas_test.cc
Add tests for mju_normalize4.
2024-07-01 10:58:35 -07:00
engine_util_container_test.cc
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_util_errmem_test.cc
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_util_misc_test.cc
Introduce trilinear flex parametrization.
2025-01-29 09:38:22 -08:00
engine_util_solve_test.cc
Clarify in mju_boxQP test that for the synthetic test set, the average number of factorizations is expected to be 5 or less, while the worst case is expected to be 6 or less.
2024-10-29 08:55:50 -07:00
engine_util_sparse_test.cc
mju_compressSparse(): add option to compress away small elements.
2025-02-12 05:08:20 -08:00
engine_util_spatial_test.cc
Add mju_mat2Rot.
2024-11-25 09:19:10 -08:00
engine_vis_state_test.cc
Fix a few issues with the passive viewer.
2023-12-18 07:33:19 -08:00
engine_vis_visualize_test.cc
Add simple unit test for mjv_updateScene.
2024-12-24 06:44:02 -08:00