Mujoco_WASM

.clang-format

Disable clang-format for MuJoCo public headers and engine source.

2026-03-20 05:06:15 -07:00

CMakeLists.txt

Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.

2025-12-12 04:49:29 -08:00

engine_array_safety.h

Use C++ strcpy_arr in xml_native_reader_test.

2022-06-16 07:15:14 -07:00

engine_callback.c

Fix typos.

2025-01-16 06:28:54 -08:00

engine_callback.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

engine_collision_box.c

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_collision_convex.c

Remove model and data from ccd object. Each geom gets a copy of pos and mat, which is editable without modifying mjData.

2026-03-23 04:51:53 -07:00

engine_collision_convex.h

Remove model and data from ccd object. Each geom gets a copy of pos and mat, which is editable without modifying mjData.

2026-03-23 04:51:53 -07:00

engine_collision_driver.c

Refactor mj_collideGeoms.

2026-03-03 13:11:14 -08:00

engine_collision_driver.h

Refactor mj_collideGeoms.

2026-03-03 13:11:14 -08:00

engine_collision_gjk.c

Remove model and data from ccd object. Each geom gets a copy of pos and mat, which is editable without modifying mjData.

2026-03-23 04:51:53 -07:00

engine_collision_gjk.h

Replace mjMAXVAL with numerical max limit where necessary in nativeccd.

2025-04-07 05:59:02 -07:00

engine_collision_primitive.c

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_collision_primitive.h

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_collision_sdf.c

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_collision_sdf.h

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_core_constraint.c

Remove unnecessary const from grad parameter in strain Jacobian functions.

2026-03-16 13:04:00 -07:00

engine_core_constraint.h

Merge friction and limit constraint counting into instantiation functions.

2026-03-16 05:23:20 -07:00

engine_core_smooth.c

Allow actuators to add damping and armature to joint and tendon transmissions.

2026-03-20 11:41:15 -07:00

engine_core_smooth.h

Implement sleeping in engine

2025-11-07 03:33:07 -08:00

engine_core_util.c

Allow actuators to add damping and armature to joint and tendon transmissions.

2026-03-20 11:41:15 -07:00

engine_core_util.h

Allow actuators to add damping and armature to joint and tendon transmissions.

2026-03-20 11:41:15 -07:00

engine_crossplatform.cc

Fix false positives from mjData stack leakage detection.

2024-02-22 08:03:51 -08:00

engine_crossplatform.h

Make preprocessor checks for ADDRESS_SANITIZER compatible with GCC

2026-03-16 09:03:52 -07:00

engine_derivative_fd.c

Add actuator and sensor delays. Fixes #1004

2026-02-06 08:47:36 -08:00

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

Add <dcmotor> actuator and related docs and tests.

2026-04-01 07:50:23 -07:00

engine_derivative.h

Add implicit stiffness for flex_interp to mj_implicitSkip.

2026-02-09 11:54:27 -08:00

engine_forward.c

Add <dcmotor> actuator and related docs and tests.

2026-04-01 07:50:23 -07:00

engine_forward.h

Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.

2025-12-01 07:39:00 -08:00

engine_global_table.h

Refactor global object tables logic.

2024-02-09 06:50:06 -08:00

engine_init.c

Add sleep related data structures

2025-11-06 12:10:55 -08:00

engine_init.h

Break out struct initialization functions into engine_init.c.

2025-09-25 19:22:27 -07:00

engine_inline.h

Merge mjc_ccdIteration into mjc_penetration.

2026-03-02 09:17:56 -08:00

engine_inverse.c

Allow actuators to add damping and armature to joint and tendon transmissions.

2026-03-20 11:41:15 -07:00

engine_inverse.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

engine_io.c

Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp.

2026-03-10 04:26:07 -07:00

engine_io.h

Move tendon sparsity fields from mjData to mjModel

2026-02-25 04:32:11 -08:00

engine_island.c

Refactor constraint tree iteration and island assignment.

2026-02-25 18:48:59 -08:00

engine_island.h

Remove mjMARKSTACK and mjFREESTACK macros.

2023-09-05 11:41:43 -07:00

engine_macro.h

Clean up includes in src/engine

2025-09-16 09:36:44 -07:00

engine_memory.c

Improve ASAN poisoning logic in mj_freeStack.

2026-03-17 08:26:39 -07:00

engine_memory.h

Define ADDRESS_SANITIZER portably using standard compiler macros

2026-03-16 08:18:11 -07:00

engine_name.c

Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2

2025-10-01 07:58:17 -07:00

engine_name.h

Split name2id and id2name into a separate source file.

2024-06-27 10:50:21 -07:00

engine_passive.c

Allow actuators to add damping and armature to joint and tendon transmissions.

2026-03-20 11:41:15 -07:00

engine_passive.h

Add implicit stiffness for flex_interp to mj_implicitSkip.

2026-02-09 11:54:27 -08:00

engine_plugin.cc

Introduce mjpEncoder plugin architecture

2026-03-25 05:35:39 -07:00

engine_plugin.h

Introduce mjpEncoder plugin architecture

2026-03-25 05:35:39 -07:00

engine_print.c

Move tendon sparsity fields from mjData to mjModel

2026-02-25 04:32:11 -08:00

engine_print.h

Functions for printing the contents of mjvScene.

2025-09-29 02:47:17 -07:00

engine_ray.c

Breaking change: Add surface normal output to MuJoCo raycast functions.

2026-01-13 10:22:21 -08:00

engine_ray.h

Breaking change: Add surface normal output to MuJoCo raycast functions.

2026-01-13 10:22:21 -08:00

engine_sensor.c

Parallelize tactile sensor computation.

2026-03-24 05:21:08 -07:00

engine_sensor.h

Add actuator and sensor delays. Fixes #1004

2026-02-06 08:47:36 -08:00

engine_setconst.c

Allow actuators to add damping and armature to joint and tendon transmissions.

2026-03-20 11:41:15 -07:00

engine_setconst.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

engine_sleep.c

Add vertex equality option.

2026-01-23 16:30:05 -08:00

engine_sleep.h

Improve logic and documentation for sleeping sensors

2025-11-11 06:45:56 -08:00

engine_solver.c

Use the word "primal" for things that relate to both Newton and CG.

2026-01-05 23:56:57 -08:00

engine_solver.h

Add island support to Newton solver

2025-05-14 04:20:34 -07:00

engine_sort.h

Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs

2025-09-18 12:28:09 -07:00

engine_support.c

Add <dcmotor> actuator and related docs and tests.

2026-04-01 07:50:23 -07:00

engine_support.h

Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.

2026-03-11 04:55:44 -07:00

engine_util_blas.c

Add private function mju_fillInt

2025-12-16 05:16:50 -08:00

engine_util_blas.h

Refactor hfield-convex collision code. This should be a no-op.

2025-11-26 03:26:56 -08:00

engine_util_container.c

Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2

2025-10-01 07:58:17 -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

Merge pull request #3084 from Ashutosh0x:fix/mingw-stat-localtime

2026-03-09 09:54:10 -07:00

engine_util_errmem.h

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_util_misc.c

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

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

engine_util_misc.h

Add <dcmotor> actuator and related docs and tests.

2026-04-01 07:50:23 -07:00

engine_util_solve.c

Improve bounds checking in engine_util_solve.c.

2026-01-08 02:44:38 -08:00

engine_util_solve.h

Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup.

2025-12-19 08:57:45 -08:00

engine_util_sparse_avx.h

Clean up includes in src/engine

2025-09-16 09:36:44 -07:00

engine_util_sparse.c

Improve mju_addToSclSparseInc with two-pointer loop.

2026-04-08 08:49:15 -07:00

engine_util_sparse.h

Implement sleeping in engine

2025-11-07 03:33:07 -08:00

engine_util_spatial.c

Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.

2025-12-12 04:49:29 -08:00

engine_util_spatial.h

Update function signatures in engine_util_spatial.h to appease fussy GCC

2025-12-12 10:47:31 -08:00

engine_vis_init.c

Add flag for depth rendering.

2025-12-18 04:36:26 -08:00

engine_vis_init.h

Clean up includes in src/engine

2025-09-16 09:36:44 -07:00

engine_vis_interact.c

Breaking change: Add surface normal output to MuJoCo raycast functions.

2026-01-13 10:22:21 -08:00

engine_vis_interact.h

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_vis_visualize.c

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

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

engine_vis_visualize.h

Make mjv_cameraFrame and mjv_cameraFrustum public.

2025-11-14 00:03:18 -08:00