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35cdc779e640ce9e7bda81c4c30c2cfad197d541
Mujoco_WASM/src/engine
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Alessio Quaglino 35cdc779e6 Add implicit bending stiffness for standard flex. 
Standard flex (flex_interp=0) with thin-plate bending treated bending forces purely explicitly. This caused contact-induced vertex vibrations and non-physical energy injection for flat resting sheets, because the solver treated each vertex as an independent mass during contact and contact normals are orthogonal to stretch constraints.

Fix: extend the existing preconditioned CG solver to include the constant bending stiffness K_bend in the implicit operator via matrix-free mat-vec.
PiperOrigin-RevId: 914774020
Change-Id: I45e0d6749abb6f873566203bccae956514b2576b
2026-05-13 03:58:16 -07:00
..
.clang-format
Disable clang-format for MuJoCo public headers and engine source.
2026-03-20 05:06:15 -07:00
CMakeLists.txt
Extract AVX code from engine_util_blas.c into engine_util_blas_avx.h
2026-05-06 05:25:53 -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
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
Enable multiccd by default.
2026-04-20 12:00:10 -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
Margin and gap redesign (breaking change)
2026-05-12 09:43:43 -07:00
engine_collision_driver.h
Add mj_maxContact API function.
2026-04-21 04:03:22 -07:00
engine_collision_gjk.c
Remove thread_local EPA data in favor of using mjData stack.
2026-04-15 09:19:57 -07:00
engine_collision_gjk.h
Remove thread_local EPA data in favor of using mjData stack.
2026-04-15 09:19:57 -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
Fix mj_makeConstraint error for flex trilinear vs trilinear contacts.
2026-05-11 02:45:27 -07:00
engine_core_constraint.h
Add Jdot correction for connect and weld constaints
2026-04-13 12:48:03 -07:00
engine_core_smooth.c
Clean-up flex assumptions.
2026-04-22 08:01:34 -07:00
engine_core_smooth.h
Optimize mj_tendonBias by computing Jdot * qvel directly
2026-04-10 04:57:55 -07:00
engine_core_util.c
Optimize flex by pinning nodes in empty cells.
2026-04-20 04:41:17 -07:00
engine_core_util.h
Optimize flex by pinning nodes in empty cells.
2026-04-20 04:41:17 -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 implicit bending stiffness for standard flex.
2026-05-13 03:58:16 -07:00
engine_derivative.h
Add implicit bending stiffness for standard flex.
2026-05-13 03:58:16 -07:00
engine_forward.c
Add implicit bending stiffness for standard flex.
2026-05-13 03:58:16 -07:00
engine_forward.h
Implement midpoint integrator for free bodies.
2026-04-13 10:58:49 -07:00
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
Improve AABB bounds in makeAAMM.
2026-04-16 03:25:18 -07:00
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
Add flex_bendingadr to mjModel.
2026-05-02 00:13:39 -07:00
engine_io.h
Add flex_bendingadr to mjModel.
2026-05-02 00:13:39 -07:00
engine_island.c
Add mju_sym2dense, document future breakage of mj_fullM
2026-05-04 14:25:53 -07:00
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
Rotate undeformed normals before using them in the bending passive forces.
2026-05-10 03:00:11 -07:00
engine_passive.h
Implement multi-cell finite element method for interpolated flexes.
2026-04-17 04:13:19 -07:00
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
Fix insidesite sensor for massless flex parent bodies.
2026-05-01 08:27:04 -07:00
engine_sensor.h
Add actuator and sensor delays. Fixes #1004
2026-02-06 08:47:36 -08:00
engine_setconst.c
Replace the banded Cholesky solver for implicit flex interpolation
2026-05-11 10:11:51 -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
Make PGS solver constraint visitation order time-independent.
2026-05-13 02:34:30 -07:00
engine_solver.h
Add per-island PGS solver dispatch.
2026-04-28 05:13:54 -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
Update MuJoCo version to 3.9.0 following the 3.8.1 release
2026-05-11 02:58:56 -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_avx.h
Extract AVX code from engine_util_blas.c into engine_util_blas_avx.h
2026-05-06 05:25:53 -07:00
engine_util_blas.c
Extract AVX code from engine_util_blas.c into engine_util_blas_avx.h
2026-05-06 05:25:53 -07:00
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
Implement bending forces for interpolated flex shells.
2026-05-05 10:33:18 -07:00
engine_util_misc.h
Implement bending forces for interpolated flex shells.
2026-05-05 10:33:18 -07:00
engine_util_solve.c
Add dense LU factorization and solve functions.
2026-05-02 13:27:04 -07:00
engine_util_solve.h
Add dense LU factorization and solve functions.
2026-05-02 13:27:04 -07:00
engine_util_sparse_avx.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_util_sparse.c
Add mju_sym2dense, document future breakage of mj_fullM
2026-05-04 14:25:53 -07:00
engine_util_sparse.h
Add mju_sym2dense, document future breakage of mj_fullM
2026-05-04 14:25:53 -07:00
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
Clean-up flex assumptions.
2026-04-22 08:01:34 -07:00
engine_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_visualize.c
Clean-up flex assumptions.
2026-04-22 08:01:34 -07:00
engine_vis_visualize.h
Make mjv_cameraFrame and mjv_cameraFrustum public.
2025-11-14 00:03:18 -08:00