Mujoco_WASM

CMakeLists.txt

mjQUICKSORT uses std::sort with C++.

2024-08-08 10:24:34 -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

Fix typos.

2025-01-16 06:28:54 -08:00

engine_collision_convex.c

Remove contact pruning with box-box collisions in nativeccd and add benchmarks.

2025-04-07 08:34:04 -07:00

engine_collision_convex.h

Remove contact pruning with box-box collisions in nativeccd and add benchmarks.

2025-04-07 08:34:04 -07:00

engine_collision_driver.c

Introduce trilinear flex parametrization.

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

engine_collision_driver.h

Add Flex component.

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

engine_collision_gjk.c

Remove square roots when possible in EPA improving numerical precision.

2025-04-09 06:18:51 -07:00

engine_collision_gjk.h

Replace mjMAXVAL with numerical max limit where necessary in nativeccd.

2025-04-07 05:59:02 -07:00

engine_collision_primitive.c

Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.

2024-09-16 03:40:17 -07:00

engine_collision_primitive.h

Circumvent bug in mjc_BoxBox.

2023-12-08 10:39:27 -08:00

engine_collision_sdf.c

Add engine-internal convenience macro for allocating typed arrays, improve error message.

2024-12-11 09:04:44 -08:00

engine_collision_sdf.h

Improved SDF objective function.

2023-11-24 09:07:17 -08:00

engine_core_constraint.c

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_core_constraint.h

Add Flex component.

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

engine_core_smooth.c

Add tendon armature

2025-04-04 07:44:04 -07:00

engine_core_smooth.h

Add tendon armature

2025-04-04 07:44:04 -07:00

engine_crossplatform.cc

Fix false positives from mjData stack leakage detection.

2024-02-22 08:03:51 -08:00

engine_crossplatform.h

mjQUICKSORT uses std::sort with C++.

2024-08-08 10:24:34 -07:00

engine_derivative_fd.c

Add engine-internal convenience macro for allocating typed arrays, improve error message.

2024-12-11 09:04:44 -08:00

engine_derivative_fd.h

Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.

2023-04-28 09:04:41 -07:00

engine_derivative.c

Avoid allocation and copying in implicit solver's addJTBJSparse

2024-12-30 04:19:10 -08:00

engine_derivative.h

Add mjd_quatIntegrate, expose mjd_subQuat.

2023-07-07 05:33:24 -07:00

engine_forward.c

Add tendon actuator force limits and tendon actuator force sensor.

2025-04-08 05:16:35 -07:00

engine_forward.h

Fix typo in mujoco.h

2023-01-09 04:04:25 -08:00

engine_global_table.h

Refactor global object tables logic.

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

engine_inverse.c

Add tendon armature

2025-04-04 07:44:04 -07:00

engine_inverse.h

Initial open sourcing of MuJoCo.

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

engine_io.c

Add tendon actuator force limits and tendon actuator force sensor.

2025-04-08 05:16:35 -07:00

engine_io.h

Add fields in mjModel for supporting mesh multicontact in nativeccd.

2025-02-19 07:12:26 -08:00

engine_island.c

Add engine-internal convenience macro for allocating typed arrays, improve error message.

2024-12-11 09:04:44 -08:00

engine_island.h

Remove mjMARKSTACK and mjFREESTACK macros.

2023-09-05 11:41:43 -07:00

engine_macro.h

Improvements to timing.

2023-10-09 11:14:44 -07:00

engine_name.c

Split name2id and id2name into a separate source file.

2024-06-27 10:50:21 -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

Introduce trilinear flex parametrization.

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

engine_passive.h

Break out passive force functions into a new file engine_passive.c

2023-03-03 08:32:16 -08:00

engine_plugin.cc

Print error instead of failing silently when loading plugins

2024-10-26 16:22:47 +02:00

engine_plugin.h

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

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

engine_print.c

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_print.h

Improve printing of inertia-like matrices, allow mj_printData to take const mjData*

2025-01-21 19:59:45 -08:00

engine_ray.c

Add engine-internal convenience macro for allocating typed arrays, improve error message.

2024-12-11 09:04:44 -08:00

engine_ray.h

Add Flex component.

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

engine_sensor.c

Add tendon actuator force limits and tendon actuator force sensor.

2025-04-08 05:16:35 -07:00

engine_sensor.h

Initial open sourcing of MuJoCo.

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

engine_setconst.c

Add tendon armature

2025-04-04 07:44:04 -07:00

engine_setconst.h

Initial open sourcing of MuJoCo.

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

engine_solver.c

Switch mj_solveM_island to use CSR representation

2025-01-20 18:36:04 -08:00

engine_solver.h

Add island support to CG solver.

2023-09-15 05:47:24 -07:00

engine_sort.h

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

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

engine_support.c

Add missing term in mj_jacDot

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

engine_support.h

Add reduced sparse dof-dof matrix structures to mjData.

2024-09-04 04:24:02 -07:00

engine_util_blas.c

Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.

2024-10-24 09:15:23 -07:00

engine_util_blas.h

Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.

2024-10-24 09:15:23 -07:00

engine_util_container.c

Add engine-internal convenience macro for allocating typed arrays, improve error message.

2024-12-11 09:04:44 -08:00

engine_util_container.h

Handle initial_capacity = 0 in mju_arrayListCreate.

2023-08-22 04:04:02 -07:00

engine_util_errmem.c

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

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

engine_util_errmem.h

Add Flex component.

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

engine_util_misc.c

Introduce trilinear flex parametrization.

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

engine_util_misc.h

Introduce trilinear flex parametrization.

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

engine_util_solve.c

Speed up mju_cholUpdateSparse by not checking for varying sparsity pattern where it is guaranteed to not vary.

2025-01-27 05:07:28 -08:00

engine_util_solve.h

Speed up mju_cholUpdateSparse by not checking for varying sparsity pattern where it is guaranteed to not vary.

2025-01-27 05:07:28 -08:00

engine_util_sparse_avx.h

Remove meaningless const qualifier for scalar arguments in sparse function signatures.

2024-09-27 06:37:18 -07:00

engine_util_sparse.c

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

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

engine_util_sparse.h

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

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

engine_util_spatial.c

Avoid square root in mju_makeFrame

2025-04-10 04:41:23 -07:00

engine_util_spatial.h

Add mju_mat2Rot.

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

engine_vis_init.c

Add circle to flexcomp and remove rope and loop from composite.

2024-11-27 10:14:25 -08:00

engine_vis_init.h

Add optional azimuth and elevation to initial free camera.

2022-08-05 01:04:02 -07:00

engine_vis_interact.c

Use qLDiagInv instead of qLD in engine_vis_interact.c

2025-03-06 21:15:36 -08:00

engine_vis_interact.h

Add Flex component.

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

engine_vis_state.c

Fix function definition formatting.

2024-10-31 06:45:41 -07:00

engine_vis_state.h

Pass mjvOption to plugin visualize callback.

2023-04-21 08:44:20 -07:00

engine_vis_visualize.c

Copy texture coordinates from OBJ into flex. Fixes #2464 .

2025-02-28 06:04:19 -08:00

engine_vis_visualize.h

Remove deprecated mjv_makeConnector function.

2024-10-28 04:51:47 -07:00