Kyle Bayes 12b40b948e Remove MuJoCo stack calls in nativeccd. ...

1. There is now thread local static memory for use with a conservative max number of iterations needed for contact.
2. For possible needs of high precision contact recovery with large iteration numbers (i.e. ellipsoid-ellipsoid collisions), there are callbacks to allocate memory when needed.

PiperOrigin-RevId: 739187134
Change-Id: I3d210f75218922d969c78465da3fe50da4fe3080

2025-03-21 08:20:51 -07:00

..

benchmark

Add BoxBox to ccd benchmarks.

2025-03-20 05:16:33 -07:00

engine

Remove MuJoCo stack calls in nativeccd.

2025-03-21 08:20:51 -07:00

plugin

Reduce cmake test boilerplate

2024-12-07 17:14:20 +01:00

sample

Stop over-allocating memory in Newton solver.

2024-10-11 05:09:33 -07:00

testdata

Default flex internal contacts to "false".

2025-03-14 04:55:09 -07:00

thread

Reduce cmake test boilerplate

2024-12-07 17:14:20 +01:00

user

Remove plugins that are not referenced after detaching a body.

2025-03-21 04:34:05 -07:00

xml

Accumulate rotation after updating pos and quat in replicate.

2025-03-18 02:51:05 -07:00

CMakeLists.txt

Reduce cmake test boilerplate

2024-12-07 17:14:20 +01:00

fixture_test.cc

Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.

2024-02-19 05:40:31 -08:00

fixture.cc

Auto-generate 3D mesh from convex OBJ if dim=3 in flex.

2025-01-06 04:35:59 -08:00

fixture.h

Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.

2025-03-04 17:34:35 -08:00

header_test.cc

Runtime disabling of actuators according to group.

2023-10-31 16:24:38 -07:00

pipeline_test.cc

Convert qLD to CSR format.

2025-02-18 07:14:45 -08:00