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

Set max in hill climbing support. When imax is the optimal index then this reduces from three iterations down to one.

2026-07-15 07:50:52 -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

Support arbitrary large meshes in multiccd by reusing EPA memory.

2026-07-14 08:48:25 -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

Support arbitrary large meshes in multiccd by reusing EPA memory.

2026-07-14 08:48:25 -07:00

engine_collision_gjk.h

Support arbitrary large meshes in multiccd by reusing EPA memory.

2026-07-14 08:48:25 -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

Add geom surfacevel: zero-dof conveyors, treadmills and turntables.

2026-07-15 17:58:17 -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

Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs).

2026-07-15 08:30:20 -07:00

engine_core_smooth.h

Remove legacy factorI/solveLD and clean up benchmarks/tests

2026-07-04 08:34:30 -07:00

engine_core_util.c

Add geom surfacevel: zero-dof conveyors, treadmills and turntables.

2026-07-15 17:58:17 -07:00

engine_core_util.h

Add geom surfacevel: zero-dof conveyors, treadmills and turntables.

2026-07-15 17:58:17 -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

Apply unsymmetrized fluid derivatives to standalone free bodies in implicitfast.

2026-07-16 04:47:56 -07:00

engine_derivative.h

Apply unsymmetrized fluid derivatives to standalone free bodies in implicitfast.

2026-07-16 04:47:56 -07:00

engine_forward.c

Apply unsymmetrized fluid derivatives to standalone free bodies in implicitfast.

2026-07-16 04:47:56 -07:00

engine_forward.h

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -07:00

engine_global_table.h

Refactor global object tables logic.

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

engine_init.c

Increase default sleep_tolerance from 1e-4 to 1e-3.

2026-07-10 07:14:37 -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

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -07:00

engine_inverse.h

Initial open sourcing of MuJoCo.

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

engine_io.c

Add geom surfacevel: zero-dof conveyors, treadmills and turntables.

2026-07-15 17:58:17 -07:00

engine_io.h

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -07:00

engine_island.c

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -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

Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs).

2026-07-15 08:30:20 -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

Support pinned flex vertices with bending

2026-07-08 04:02:31 -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

Add pluggable resource writing to MuJoCo

2026-07-09 10:47:48 -07:00

engine_plugin.h

Introduce mjpEncoder plugin architecture

2026-03-25 05:35:39 -07:00

engine_print.c

Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs).

2026-07-15 08:30:20 -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

Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs).

2026-07-15 08:30:20 -07:00

engine_sensor.h

Add actuator and sensor delays. Fixes #1004

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

engine_setconst.c

Add geom surfacevel: zero-dof conveyors, treadmills and turntables.

2026-07-15 17:58:17 -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

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -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

Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs).

2026-07-15 08:30:20 -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_errmem.c

Fix data race lazy-init spin lock deadlock on Windows.

2026-07-04 12:07:34 -07:00

engine_util_errmem.h

Introduce new logging API, fixes #858

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

engine_util_misc.c

Convert clip and sign operations to branchless one-liners.

2026-07-07 04:27:26 -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

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -07:00

engine_util_solve.h

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -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

Add pan/tilt motions to mjv_moveCamera.

2026-07-15 06:50:15 -07:00

engine_vis_interact.h

Remove unneeded mjvScene argument from mjv_moveCamera.

2026-07-15 02:26:04 -07:00

engine_vis_visualize.c

Use body center-of-mass (subtree_com) instead of lookat point for tracking cameras.

2026-07-16 02:39:45 -07:00

engine_vis_visualize.h

Implement RenderableManager.

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