Mujoco_WASM

.clang-format

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

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

CMakeLists.txt

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -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

Cap box<->box collisions.

2026-05-29 03:52:57 -07:00

engine_collision_convex.c

Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.

2026-06-16 08:33:09 -07:00

engine_collision_convex.h

Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.

2026-06-16 08:33:09 -07:00

engine_collision_driver.c

Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.

2026-06-16 08:33:09 -07:00

engine_collision_driver.h

Modify mjc_FlexSDF to support mjPreContact directly.

2026-06-16 07:04:16 -07:00

engine_collision_gjk.c

Add tolerance to upper > lower bound check on first iteration of EPA.

2026-06-17 03:19:19 -07:00

engine_collision_gjk.h

Tune constants for nativeccd to perform better with single precision.

2026-06-08 07:21:17 -07:00

engine_collision_primitive.c

Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.

2026-06-16 08:33:09 -07:00

engine_collision_primitive.h

Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.

2026-06-16 08:33:09 -07:00

engine_collision_sdf.c

Modify mjc_FlexSDF to support mjPreContact directly.

2026-06-16 07:04:16 -07:00

engine_collision_sdf.h

Modify mjc_FlexSDF to support mjPreContact directly.

2026-06-16 07:04:16 -07:00

engine_core_constraint.c

Enable interior nodes for interpolated flex shell mode.

2026-05-31 10:36:01 -07:00

engine_core_constraint.h

Enable interior nodes for interpolated flex shell mode.

2026-05-31 10:36:01 -07:00

engine_core_smooth.c

Enable interior nodes for interpolated flex shell mode.

2026-05-31 10:36:01 -07:00

engine_core_smooth.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_core_util.c

Fix rotation Jacobian offset in mj_jacSum sparse path.

2026-06-17 04:24:00 -07:00

engine_core_util.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_crossplatform.cc

Fix false positives from mjData stack leakage detection.

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

engine_crossplatform.h

Fix data race in mju_getLogConfigPtr lazy init

2026-07-01 11:24:36 -07:00

engine_derivative_fd.c

Migrate mjd_inverseFD mass Jacobian from qM to M

2026-07-03 15:35:52 -07:00

engine_derivative_fd.h

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_derivative.c

Add fast path for flex derivative computation in centered flexes.

2026-05-15 10:13:22 -07:00

engine_derivative.h

Precompute rotated stiffness matrix before CG in implicit flex integrator.

2026-05-15 02:58:06 -07:00

engine_forward.c

Add threading support to PGS

2026-06-22 14:29:17 -07:00

engine_forward.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_global_table.h

Refactor global object tables logic.

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

engine_init.c

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_init.h

Break out struct initialization functions into engine_init.c.

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

engine_inline.h

Add runtime assertions to mji functions.

2026-06-16 08:36:32 -07:00

engine_inverse.c

Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

2026-05-17 16:47:54 -07:00

engine_inverse.h

Initial open sourcing of MuJoCo.

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

engine_io.c

Introduce new logging API, fixes #858

2026-06-11 14:36:57 -07:00

engine_io.h

Add flex_bendingadr to mjModel.

2026-05-02 00:13:39 -07:00

engine_island.c

Move island-specific sparse matrices from arena to stack.

2026-05-30 03:09:46 -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

Fix GitHub Actions for threading.

2026-05-28 12:57:16 -07:00

engine_memory.h

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -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

Add bounds check for cached node indices in passive mesh.

2026-05-15 08:50:49 -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

Canonicalize mjVisual macros to include type and dimension.

2026-06-08 05:30:57 -07:00

engine_print.h

Functions for printing the contents of mjvScene.

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

engine_ray.c

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_ray.h

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_sensor.c

simplify camera projection sensor

2026-06-23 04:17:38 -07:00

engine_sensor.h

Add actuator and sensor delays. Fixes #1004

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

engine_setconst.c

Add body/simple attribute to control simple body optimization.

2026-07-03 09:09:30 -07:00

engine_setconst.h

Initial open sourcing of MuJoCo.

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

engine_sleep.c

Introduce new logging API, fixes #858

2026-06-11 14:36:57 -07:00

engine_sleep.h

Implement RenderableManager.

2026-07-02 00:03:05 -07:00

engine_solver.c

Refine line search convergence criteria.

2026-07-02 02:56:24 -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 3.10.1 following the 3.10.0 release

2026-06-22 07:25:02 -07:00

engine_support.h

Introduce new logging API, fixes #858

2026-06-11 14:36:57 -07:00

engine_thread.cc

Remove engine threading fallback.

2026-06-10 06:54:19 -07:00

engine_thread.h

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

engine_util_blas_avx.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_blas.c

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_blas.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

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

Fix data race in mju_getLogConfigPtr lazy init

2026-07-01 11:24:36 -07:00

engine_util_errmem.h

Introduce new logging API, fixes #858

2026-06-11 14:36:57 -07:00

engine_util_misc.c

Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)

2026-06-23 05:52:14 -07:00

engine_util_misc.h

Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)

2026-06-23 05:52:14 -07:00

engine_util_solve.c

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_util_solve.h

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_util_sparse_avx.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_sparse.c

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_sparse.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_spatial.c

Introduce mjPreContact, a minimal struct passed into the collision functions.

2026-05-20 10:47:46 -07:00

engine_util_spatial.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

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

Expose mjv_flexBodyIdAndPoint as a helper function.

2026-06-08 02:28:39 -07:00

engine_vis_interact.h

Expose mjv_flexBodyIdAndPoint as a helper function.

2026-06-08 02:28:39 -07:00

engine_vis_visualize.c

Expose function for determining if tendons should be drawn using a catenary.

2026-06-12 08:45:22 -07:00

engine_vis_visualize.h

Implement RenderableManager.

2026-07-02 00:03:05 -07:00