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Mujoco_WASM/src/engine
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Alessio Quaglino 3aa973894c Fast flex: Interpolate contact points directly. 
For each contact point, we used to first compute the vertex weights on a triangle and then add a contact point per vertex using the flex interpolation (trilinear or quadratic), obtaining the total weight by multiplying the vertex weight and the basis function value at that vertex. After this change, each contact point is added directly by evaluating the basis function directly a the point.

PiperOrigin-RevId: 834218909
Change-Id: Ic0fdb03fc0ef5478798c293df99204fd33116fd1
2025-11-19 03:40:17 -08:00
..
CMakeLists.txt
Add sleep related data structures
2025-11-06 12:10:55 -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
Fix box-box distance computation.
2025-11-07 07:37:03 -08:00
engine_collision_convex.c
Fix normal only for libccd during hfield collisions.
2025-11-18 12:55:56 -08:00
engine_collision_convex.h
Remove contact pruning with box-box collisions in nativeccd and add benchmarks.
2025-04-07 08:34:04 -07:00
engine_collision_driver.c
Restructure AAMM storage for improved cache locality in broadphase, ~35% speedup (of broadphase).
2025-11-11 11:46:08 -08:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_gjk.c
Use mjTHREADLOCAL macro instead of intrinsic.
2025-11-17 07:50:02 -08:00
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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_collision_primitive.h
Circumvent bug in mjc_BoxBox.
2023-12-08 10:39:27 -08:00
engine_collision_sdf.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_collision_sdf.h
Add SDF functions to public API.
2025-05-12 10:53:39 -07:00
engine_core_constraint.c
Fast flex: Interpolate contact points directly.
2025-11-19 03:40:17 -08:00
engine_core_constraint.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_core_smooth.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_core_smooth.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_core_util.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_core_util.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_crossplatform.cc
Fix false positives from mjData stack leakage detection.
2024-02-22 08:03:51 -08:00
engine_crossplatform.h
mjQUICKSORT uses std::sort with C++.
2024-08-08 10:24:34 -07:00
engine_derivative_fd.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
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
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_forward.h
Fix typo in mujoco.h
2023-01-09 04:04:25 -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_inverse.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Change mj_sizeModel return type to mjtSize.
2025-11-13 02:32:18 -08:00
engine_io.h
Change mj_sizeModel return type to mjtSize.
2025-11-13 02:32:18 -08:00
engine_island.c
Add sleep related data structures
2025-11-06 12:10:55 -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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_memory.h
Reset contact efc_address in mj_clearEfc, fixes #2869
2025-10-13 06:18:41 -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
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_passive.h
Break out passive force functions into a new file engine_passive.c
2023-03-03 08:32:16 -08:00
engine_plugin.cc
Create mjpDecoder, mj_parse, and mju_decodeResource
2025-10-30 12:54:40 -07:00
engine_plugin.h
Create mjpDecoder, mj_parse, and mju_decodeResource
2025-10-30 12:54:40 -07:00
engine_print.c
Update model memory footprint reporting in mj_printModel.
2025-11-11 12:08:22 -08:00
engine_print.h
Functions for printing the contents of mjvScene.
2025-09-29 02:47:17 -07:00
engine_ray.c
Clean up ray functions
2025-11-17 05:47:44 -08:00
engine_ray.h
Clean up ray functions
2025-11-17 05:47:44 -08:00
engine_sensor.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Add sleep related data structures
2025-11-06 12:10:55 -08:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_sleep.c
Fix bug related to sleeping static children of mocap bodies.
2025-11-12 07:20:03 -08:00
engine_sleep.h
Improve logic and documentation for sleeping sensors
2025-11-11 06:45:56 -08:00
engine_solver.c
Implement sleeping in engine
2025-11-07 03:33:07 -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
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_support.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_blas.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_blas.h
Implement sleeping in engine
2025-11-07 03:33:07 -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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_util_errmem.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_util_misc.c
Add quadratic interpolation to mju_interpolate3D.
2025-10-16 08:48:20 -07:00
engine_util_misc.h
Add mju_interpolate3D.
2025-10-16 04:39:24 -07:00
engine_util_solve.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_solve.h
Implement sleeping in engine
2025-11-07 03:33:07 -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
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_sparse.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_spatial.c
Refactor and speed up mj_crb and add a benchmark.
2025-10-06 10:54:01 -07:00
engine_util_spatial.h
Fix mismatched argument format in mju_mulInertVec declaration.
2025-10-06 11:40:32 -07:00
engine_vis_init.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_vis_init.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_vis_interact.c
Add mju_interpolate3D.
2025-10-16 04:39:24 -07:00
engine_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_visualize.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_vis_visualize.h
Make mjv_cameraFrame and mjv_cameraFrustum public.
2025-11-14 00:03:18 -08:00