Alessio Quaglino 3d45a33190 Refactor flex strain constraints to be per-cell. ...

Each mjEQ_FLEXSTRAIN equality now represents a single cell within a flex. This allows for more efficient sparse Jacobian computation by only considering the degrees of freedom of the nodes within each specific cell. This change gives a speedup of about 10x on a 3x3x3 model.

PiperOrigin-RevId: 902164069
Change-Id: I78eedf1d5cf39b8989fe9863c22d164922fc0efb

2026-04-19 07:21:18 -07:00

..

CMakeLists.txt

Move GlobalModel class and functionality into its own file.

2026-01-08 03:08:12 -08:00

xml_api.cc

Move OpenUSD parsing to usd_decoder

2026-01-09 14:48:29 -08:00

xml_api.h

Fix return value of mj_saveXML and mj_saveXMLString, fixes #2247

2024-11-26 02:32:50 -08:00

xml_base.cc

Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.

2025-05-30 17:17:14 -07:00

xml_base.h

Add actuator and sensor delays. Fixes #1004

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

xml_global.cc

Move GlobalModel class and functionality into its own file.

2026-01-08 03:08:12 -08:00

xml_global.h

Use mj_parseXMLString instead of a test-specific LoadFromModelString.

2026-01-09 06:34:27 -08:00

xml_native_reader.cc

Refactor flex strain constraints to be per-cell.

2026-04-19 07:21:18 -07:00

xml_native_reader.h

Add <dcmotor> actuator and related docs and tests.

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

xml_native_writer.cc

Refactor flex strain constraints to be per-cell.

2026-04-19 07:21:18 -07:00

xml_native_writer.h

Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.

2025-05-30 17:17:14 -07:00

xml_numeric_format.cc

Refactor mjXUtil::WriteAttr using templates.

2022-06-08 23:33:49 -07:00

xml_numeric_format.h

Refactor mjXUtil::WriteAttr using templates.

2022-06-08 23:33:49 -07:00

xml_urdf.cc

Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y

2026-03-16 13:25:25 -07:00

xml_urdf.h

Disallow repeated nameless assets that use the same file, except for URDFs.

2024-09-16 05:50:50 -07:00

xml_util.cc

Use std::vector instead of array in MJCF schema.

2025-11-13 03:41:54 -08:00

xml_util.h

Use std::vector instead of array in MJCF schema.

2025-11-13 03:41:54 -08:00

xml.cc

URDF parsing no longer strips filepaths by default.

2026-04-13 10:57:52 -07:00

xml.h

Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.

2025-05-30 17:17:14 -07:00