Yuval Tassa 4358a102cd Add manual test for CG converence ...

Also add MJTOL_SCALE to fixture to allow tests to be run with zero tolerance. This is useful when assesing the impact of code changes (A/B comparison of failure values)

PiperOrigin-RevId: 924219083
Change-Id: Ifdd09ac850904ca8dd79179930ce738a4b37d284

2026-05-31 03:15:54 -07:00

..

testdata

Allow flex sleeping

2026-05-19 07:15:27 -07:00

CMakeLists.txt

Add mj_raySdfNormal (not exposed in public header)

2025-12-09 04:43:39 -08:00

engine_cg_convergence_test.cc

Add manual test for CG converence

2026-05-31 03:15:54 -07:00

engine_collision_box_test.cc

Introduce mjPreContact, a minimal struct passed into the collision functions.

2026-05-20 10:47:46 -07:00

engine_collision_convex_test.cc

Enable multiccd by default.

2026-04-20 12:00:10 -07:00

engine_collision_driver_test.cc

Add mj_maxContact API function.

2026-04-21 04:03:22 -07:00

engine_collision_gjk_test.cc

Fix multiccd edge bug that occurs in certain situations.

2026-05-27 11:32:45 -07:00

engine_collision_sdf_test.cc

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_core_constraint_test.cc

Refactor shell stiffness computation to use pure membrane modes plus an explicit warp mode.

2026-05-17 13:00:08 -07:00

engine_core_smooth_test.cc

Optimize mj_tendonBias by computing Jdot * qvel directly

2026-04-10 04:57:55 -07:00

engine_core_util_test.cc

Add manual test for CG converence

2026-05-31 03:15:54 -07:00

engine_derivative_test.cc

Precompute rotated stiffness matrix before CG in implicit flex integrator.

2026-05-15 02:58:06 -07:00

engine_forward_test.cc

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_inverse_test.cc

Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

2026-05-17 16:47:54 -07:00

engine_io_test.cc

Merge pull request #3120 from Ashutosh0x:fix/safe-overflow-msvc

2026-05-29 03:12:40 -07:00

engine_island_test.cc

Move island-specific sparse matrices from arena to stack.

2026-05-30 03:09:46 -07:00

engine_passive_test.cc

Add manual test for CG converence

2026-05-31 03:15:54 -07:00

engine_plugin_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

engine_print_test.cc

Disable MSAN poisoning when printing using engine_print.

2022-06-20 08:57:54 -07:00

engine_ray_test.cc

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_sensor_test.cc

Change tactile sensor normal component to report penetration depth.

2026-05-27 02:00:34 -07:00

engine_setconst_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

engine_sleep_test.cc

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_solver_test.cc

Add manual test for CG converence

2026-05-31 03:15:54 -07:00

engine_sort_test.cc

Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs

2025-09-18 12:28:09 -07:00

engine_support_test.cc

Add mju_sym2dense, document future breakage of mj_fullM

2026-05-04 14:25:53 -07:00

engine_thread_test.cc

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

engine_util_blas_test.cc

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_container_test.cc

Add error reporting to model loading in engine tests, where missing

2025-08-16 08:11:49 -07:00

engine_util_errmem_test.cc

Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.

2023-09-05 11:05:04 -07:00

engine_util_misc_test.cc

Add manual test for CG converence

2026-05-31 03:15:54 -07:00

engine_util_solve_test.cc

Add manual test for CG converence

2026-05-31 03:15:54 -07:00

engine_util_sparse_test.cc

Add mju_sym2dense, document future breakage of mj_fullM

2026-05-04 14:25:53 -07:00

engine_util_spatial_test.cc

Add manual test for CG converence

2026-05-31 03:15:54 -07:00

engine_vis_visualize_test.cc

Remove `mjWARN_VGEOMFULL, handle visual geom buffer full warnings in mjvScene`.

2026-04-08 07:17:53 -07:00