Alessio Quaglino 3230cf99f9 Change flex constraints to eigenmodes of the stiffness matrix. ...

This provides a reduction from 26 to 18 constraints for trilinear and from 162 to 75 for quadratic. The assembly of the constraints becomes trivial. In total the speedup for a trilinear 3x3x3 grid is about 3x.

PiperOrigin-RevId: 902502398
Change-Id: I764772c7adef78da5a644f64701f842d36e4b543

2026-04-20 02:02:44 -07:00

..

testdata

Add Jdot correction for connect and weld constaints

2026-04-13 12:48:03 -07:00

CMakeLists.txt

Add mj_raySdfNormal (not exposed in public header)

2025-12-09 04:43:39 -08:00

engine_collision_box_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

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

Replace margin/gap max with sum.

2026-02-11 14:22:27 -08:00

engine_collision_gjk_test.cc

Remove thread_local EPA data in favor of using mjData stack.

2026-04-15 09:19:57 -07:00

engine_collision_sdf_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

engine_core_constraint_test.cc

Change flex constraints to eigenmodes of the stiffness matrix.

2026-04-20 02:02:44 -07:00

engine_core_smooth_test.cc

Optimize mj_tendonBias by computing Jdot * qvel directly

2026-04-10 04:57:55 -07:00

engine_core_util_test.cc

Implement multi-cell finite element method for interpolated flexes.

2026-04-17 04:13:19 -07:00

engine_derivative_test.cc

Use banded solver for implicit flex integration.

2026-04-17 08:00:07 -07:00

engine_forward_test.cc

Implement multi-cell finite element method for interpolated flexes.

2026-04-17 04:13:19 -07:00

engine_inverse_test.cc

Implement midpoint integrator for free bodies.

2026-04-13 10:58:49 -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

Fix island graph construction for multi-tree constraints, fixes #3073

2026-02-11 10:05:32 -08:00

engine_passive_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

engine_plugin_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -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

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

engine_sensor_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

engine_setconst_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

engine_sleep_test.cc

Implement midpoint integrator for free bodies.

2026-04-13 10:58:49 -07:00

engine_solver_test.cc

Add Jdot correction for connect and weld constaints

2026-04-13 12:48:03 -07:00

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

Implement multi-cell finite element method for interpolated flexes.

2026-04-17 04:13:19 -07:00

engine_thread_test.cc

Sparse ten_J and ten_J_colind

2026-02-13 06:57:22 -08:00

engine_util_blas_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -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

Implement multi-cell finite element method for interpolated flexes.

2026-04-17 04:13:19 -07:00

engine_util_solve_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

engine_util_sparse_test.cc

2-3x speedup of sparse matrix squaring.

2026-04-15 07:19:41 -07:00

engine_util_spatial_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

engine_vis_visualize_test.cc

Remove `mjWARN_VGEOMFULL, handle visual geom buffer full warnings in mjvScene`.

2026-04-08 07:17:53 -07:00