Alessio Quaglino
b16383dfaf
The flex interpolation stiffness matrix within the implicit/implicitfast solvers is now built and factorized in a banded format instead of a dense one. This involves: - Calculating the bandwidth based on the sparsity of the mass/damping matrix and the connectivity within flex cells. - Allocating and populating a banded matrix `H`. - Using `mju_cholFactorBand` and `mju_cholSolveBand` for factorization and solving. This change improves performance for flexes with many DOFs but local coupling. PiperOrigin-RevId: 901297952 Change-Id: I3efe06353d1903ea65ab30dc49685cede228bb68
Unity Plug-in
The MuJoCo Unity plug-in allows the Unity Editor and runtime to use the MuJoCo physics engine. Users can import MJCF files and edit the models in the Editor. The plug-in relies on Unity for most aspects -- assets, game logic, simulation time -- but uses MuJoCo to determine how objects move, giving the designer access to MuJoCo's full API. See documentation and installation instructions here.