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Mujoco_WASM/src/engine
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Yuval Tassa 79bcfecba4 Tidy up mj_kinematics implementation. 
PiperOrigin-RevId: 597556619
Change-Id: Iaf108a6582e8135c7169dad07ed0654bdea8ee71
2024-01-11 08:00:06 -08:00
..
CMakeLists.txt
Make asan instrumentation in mj_(mark|free)Stack cheaper.
2023-09-12 06:06:04 -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
Add spaces around comparison operators in engine source files.
2023-05-28 05:02:34 -07:00
engine_callback.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_collision_box.c
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_convex.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_collision_convex.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_driver.c
Fix bug introduced in 7942fe957e
2023-12-14 13:30:38 -08:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_primitive.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_collision_primitive.h
Circumvent bug in mjc_BoxBox.
2023-12-08 10:39:27 -08:00
engine_collision_sdf.c
Improved SDF objective function.
2023-11-24 09:07:17 -08:00
engine_collision_sdf.h
Improved SDF objective function.
2023-11-24 09:07:17 -08:00
engine_core_constraint.c
Add shortcuts for power function in impedance computation.
2023-12-13 13:14:27 -08:00
engine_core_constraint.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_core_smooth.c
Tidy up mj_kinematics implementation.
2024-01-11 08:00:06 -08:00
engine_core_smooth.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_crossplatform.cc
Make asan instrumentation in mj_(mark|free)Stack cheaper.
2023-09-12 06:06:04 -07:00
engine_crossplatform.h
Make asan instrumentation in mj_(mark|free)Stack cheaper.
2023-09-12 06:06:04 -07:00
engine_derivative_fd.c
Delete derivative code sample.
2023-10-14 08:38:37 -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
Fix flex constraint Jacobian for edges belonging to a single body.
2023-10-20 02:49:34 -07:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Allow plugin actuators to have activation state.
2023-11-23 05:14:03 -08:00
engine_forward.h
Fix typo in mujoco.h
2023-01-09 04:04:25 -08:00
engine_inverse.c
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Add mjNOBJECT value to mjtObj enum.
2023-12-12 05:15:00 -08:00
engine_io.h
s/paramters/parameters/
2023-12-05 10:20:04 -08:00
engine_island.c
Disable island discovery for models with flexes.
2023-10-17 13:17:24 -07:00
engine_island.h
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_macro.h
Improvements to timing.
2023-10-09 11:14:44 -07:00
engine_passive.c
Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.
2023-10-25 05:01:45 -07:00
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
Add modified callback to resource providers (for caching purposes).
2023-08-30 06:53:20 -07:00
engine_plugin.h
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_print.c
Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.
2023-10-25 05:01:45 -07:00
engine_print.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_ray.c
Use mesh_pos, mesh_quat instead of geom_pos, geom_mat in ray_sdf.
2023-11-30 04:26:07 -08:00
engine_ray.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_resource.c
Add modified callback to resource providers (for caching purposes).
2023-08-30 06:53:20 -07:00
engine_resource.h
Refactor VFS logic out of ResourceProvider plugin code.
2023-08-30 04:47:24 -07:00
engine_sensor.c
In mj_sensorAcc, flip condition for triggering call to mj_rnePostConstraint to enumerate sensors that require the call rather than eliminating those that do not.
2023-11-06 04:51:53 -08:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Fix flex constraint Jacobian for edges belonging to a single body.
2023-10-20 02:49:34 -07:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_solver.c
Fix potential out-of-range write in solver statistics saving.
2023-09-28 00:58:13 -07:00
engine_solver.h
Add island support to CG solver.
2023-09-15 05:47:24 -07:00
engine_support.c
Post release version update: Update to V3.1.2
2023-12-18 15:03:37 -08:00
engine_support.h
Runtime disabling of actuators according to group.
2023-10-31 16:24:38 -07:00
engine_util_blas.c
PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1.
2023-09-11 11:09:53 -07:00
engine_util_blas.h
Fix typo.
2023-08-28 10:29:48 -07:00
engine_util_container.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -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
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_util_errmem.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_util_misc.c
Fix bug introduced in 7942fe957e
2023-12-14 13:30:38 -08:00
engine_util_misc.h
Fix bug introduced in 7942fe957e
2023-12-14 13:30:38 -08:00
engine_util_solve.c
Stricter swapping condition in mju_eig3.
2023-10-08 04:04:34 -07:00
engine_util_solve.h
Fix mju_eig3 declarations.
2023-10-06 04:10:44 -07:00
engine_util_sparse_avx.h
Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.
2023-09-01 07:40:16 -07:00
engine_util_sparse.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_util_sparse.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_util_spatial.c
Add zero vector shortcut to mju_rotVecQuat.
2024-01-11 03:19:30 -08:00
engine_util_spatial.h
Fix comment typos.
2023-03-06 06:37:42 -08:00
engine_vfs.c
Add modified callback to resource providers (for caching purposes).
2023-08-30 06:53:20 -07:00
engine_vfs.h
Refactor VFS logic out of ResourceProvider plugin code.
2023-08-30 04:47:24 -07:00
engine_vis_init.c
Change mjVISSTRING of connect and weld equality constraints from "Constraint" to "Equality". This is more consistent with the 'E' shortcut key and with mjDISABLESTRING ("constraint" means all constraints, "equality" means bilateral constraints).
2023-12-24 12:06:59 -08:00
engine_vis_init.h
Add optional azimuth and elevation to initial free camera.
2022-08-05 01:04:02 -07:00
engine_vis_interact.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_state.c
Fix a few issues with the passive viewer.
2023-12-18 07:33:19 -08:00
engine_vis_state.h
Pass mjvOption to plugin visualize callback.
2023-04-21 08:44:20 -07:00
engine_vis_visualize.c
Add mjGEOM_LINEBOX, used in visualization of collision trees.
2023-12-15 05:36:35 -08:00
engine_vis_visualize.h
Add Flex component.
2023-10-12 10:49:35 +01:00