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Mujoco_WASM/test/engine
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Yuval Tassa 1cda1e7a8c Prevent degenerate body inverse weights in constraints. 
Fixes #2472

PiperOrigin-RevId: 855223971
Change-Id: I646207f82353b7099aab9e220888fe11a4cd3d6d
2026-01-12 07:43:14 -08:00
..
testdata
Add additional data fields that can be reported by rangefinder sensors.
2025-12-23 15:33:00 -08:00
CMakeLists.txt
Add mj_raySdfNormal (not exposed in public header)
2025-12-09 04:43:39 -08:00
engine_collision_box_test.cc
Fix box-box distance computation.
2025-11-07 07:37:03 -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 error reporting to model loading in engine tests, where missing
2025-08-16 08:11:49 -07:00
engine_collision_gjk_test.cc
Clean up NativeCCD testing models.
2025-11-10 21:31:02 -08:00
engine_collision_sdf_test.cc
Add error reporting to model loading in engine tests, where missing
2025-08-16 08:11:49 -07:00
engine_core_constraint_test.cc
Extract memory allocation functions and core utilities
2025-09-01 03:38:25 -07:00
engine_core_smooth_test.cc
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_derivative_test.cc
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_forward_test.cc
Prevent degenerate body inverse weights in constraints.
2026-01-12 07:43:14 -08:00
engine_inverse_test.cc
Add error reporting to model loading in engine tests, where missing
2025-08-16 08:11:49 -07:00
engine_io_test.cc
Extract memory allocation functions and core utilities
2025-09-01 03:38:25 -07:00
engine_island_test.cc
Make constraint island discovery on by default.
2025-08-26 04:27:24 -07:00
engine_passive_test.cc
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
2025-08-29 06:06:28 -07:00
engine_plugin_test.cc
Move tactile sensor to the engine.
2025-07-30 05:27:44 -07:00
engine_print_test.cc
Disable MSAN poisoning when printing using engine_print.
2022-06-20 08:57:54 -07:00
engine_ray_test.cc
Add additional data fields that can be reported by rangefinder sensors.
2025-12-23 15:33:00 -08:00
engine_sensor_test.cc
Add additional data fields that can be reported by rangefinder sensors.
2025-12-23 15:33:00 -08:00
engine_setconst_test.cc
Add sleep related data structures
2025-11-06 12:10:55 -08:00
engine_sleep_test.cc
Fix bug related to sleeping static children of mocap bodies.
2025-11-12 07:20:03 -08:00
engine_solver_test.cc
Add a test for equivalence of different solvers.
2025-12-17 08:21:52 -08:00
engine_sort_test.cc
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
2025-09-18 12:28:09 -07:00
engine_support_test.cc
Change the type of state signature arguments from unsigned int to int
2025-12-11 04:34:36 -08:00
engine_thread_test.cc
Make constraint island discovery on by default.
2025-08-26 04:27:24 -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
Add error reporting to model loading in engine tests, where missing
2025-08-16 08:11:49 -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
Add quadratic interpolation to mju_interpolate3D.
2025-10-16 08:48:20 -07:00
engine_util_solve_test.cc
Refactor sparse Cholesky factorization into symbolic and numeric phases.
2025-12-19 06:11:55 -08:00
engine_util_sparse_test.cc
Allow transposing of sparse sub-matrices whose first row is > 0
2025-08-21 05:56:33 -07:00
engine_util_spatial_test.cc
Add mju_mat2Rot.
2024-11-25 09:19:10 -08:00
engine_vis_visualize_test.cc
Store the status of the scene in the scene itself.
2025-09-30 00:06:00 -07:00