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

..

testdata

Support edge contacts with multiccd in nativeccd.

2025-02-24 09:48:43 -08:00

CMakeLists.txt

Add simple unit test for mjv_updateScene.

2024-12-24 06:44:02 -08:00

engine_collision_box_test.cc

Fix bug in box-sphere collider. Fixes #2206

2024-12-04 01:19:27 -08:00

engine_collision_convex_test.cc

Make mj_gjkPenetration have the same signature as LibCCD penetration functions.

2024-08-09 07:40:17 -07:00

engine_collision_driver_test.cc

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_collision_gjk_test.cc

Remove MuJoCo stack calls in nativeccd.

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

engine_collision_sdf_test.cc

Add Signed Distance Field to collision geometries.

2023-08-16 09:15:23 -07:00

engine_core_constraint_test.cc

Fix comparison in engine_core_constraint_test.

2024-12-11 04:11:13 -08:00

engine_core_smooth_test.cc

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

engine_derivative_test.cc

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

engine_forward_test.cc

Add test for armature, model will be used in upcoming improved documentation for armature.

2025-01-26 12:01:12 -08:00

engine_inverse_test.cc

PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1.

2023-09-11 11:09:53 -07:00

engine_io_test.cc

Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix.

2025-01-10 09:23:55 -08:00

engine_island_test.cc

Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179

2024-10-28 10:44:04 -07:00

engine_passive_test.cc

Add automatic free-joint alignment.

2024-09-04 10:07:33 -07:00

engine_plugin_test.cc

Add termination character to flattened plugin attributes if empty.

2025-02-24 11:07:18 -08:00

engine_print_test.cc

Disable MSAN poisoning when printing using engine_print.

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

engine_ray_test.cc

Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.

2024-06-16 10:02:36 -07:00

engine_sensor_test.cc

Add sensors for potential and kinetic energy.

2025-01-17 13:10:12 -08:00

engine_solver_test.cc

Represent only the lower triangle in Newton solver's reduced dof-dof matrix.

2025-01-06 04:58:55 -08:00

engine_sort_test.cc

Replace mjQUICKSORT with faster, native sorting function. fixes #1638

2024-10-22 06:05:12 -07:00

engine_support_test.cc

Add missing term in mj_jacDot

2025-03-11 03:01:29 -07:00

engine_thread_test.cc

Add missing models to all_models and all_test_models.

2023-10-18 08:59:54 -07:00

engine_util_blas_test.cc

Add tests for mju_normalize4.

2024-07-01 10:58:35 -07:00

engine_util_container_test.cc

Remove mjMARKSTACK and mjFREESTACK macros.

2023-09-05 11:41:43 -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

Introduce trilinear flex parametrization.

2025-01-29 09:38:22 -08:00

engine_util_solve_test.cc

Clarify in mju_boxQP test that for the synthetic test set, the average number of factorizations is expected to be 5 or less, while the worst case is expected to be 6 or less.

2024-10-29 08:55:50 -07:00

engine_util_sparse_test.cc

mju_compressSparse(): add option to compress away small elements.

2025-02-12 05:08:20 -08:00

engine_util_spatial_test.cc

Add mju_mat2Rot.

2024-11-25 09:19:10 -08:00

engine_vis_state_test.cc

Fix a few issues with the passive viewer.

2023-12-18 07:33:19 -08:00

engine_vis_visualize_test.cc

Add simple unit test for mjv_updateScene.

2024-12-24 06:44:02 -08:00