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5274e5f720f7b9b54699005de053d62ead6657e7
Mujoco_WASM/src/engine
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Saran Tunyasuvunakool 5274e5f720 Clean up X macros and usages for mjOption, mjStatistic, and mjVisual. 
* Replace various MJOPTION_ macros with a single MJOPTION_FIELDS.
* Use XVEC macro to denote vector members where there is a mixture of
  vector and scalar members in a given struct type.
* Split up MJVISUAL_FIELDS into separate macros for each substruct.
* Modify engine_print.c and Python bindings struct.h/cc to use the
  new X macros.

PiperOrigin-RevId: 869760513
Change-Id: Idac4fe9aa99f0258e7c79802ca9023a0d4486e2d
2026-02-13 09:10:36 -08:00
..
CMakeLists.txt
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
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 aliasing violations in engine_collision_box.c
2025-12-12 05:35:42 -08:00
engine_collision_convex.c
Replace comma operator with semi-colon.
2026-02-04 05:14:17 -08:00
engine_collision_convex.h
Refactor hfield-convex collision code. This should be a no-op.
2025-11-26 03:26:56 -08:00
engine_collision_driver.c
Replace margin/gap max with sum.
2026-02-11 14:22:27 -08:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_gjk.c
Refactor epaWitness.
2025-11-25 03:44:57 -08:00
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
Specialized box and capsule collision primitives for stable 2D flex interactions.
2026-02-02 13:36:42 -08:00
engine_collision_primitive.h
Specialized box and capsule collision primitives for stable 2D flex interactions.
2026-02-02 13:36:42 -08:00
engine_collision_sdf.c
Breaking change: Add surface normal output to MuJoCo raycast functions.
2026-01-13 10:22:21 -08:00
engine_collision_sdf.h
Add SDF functions to public API.
2025-05-12 10:53:39 -07:00
engine_core_constraint.c
Add vertex equality option.
2026-01-23 16:30:05 -08:00
engine_core_constraint.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_core_smooth.c
Add mjData flags marking lazily evaluated pipeline stages
2026-01-27 09:45:06 -08:00
engine_core_smooth.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_core_util.c
Use body_weldid to find the first movable body in a chain.
2026-01-31 17:16:36 -08:00
engine_core_util.h
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
2026-01-14 11:18:41 -08:00
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 actuator and sensor delays. Fixes #1004
2026-02-06 08:47:36 -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
Fix implicit integrator derivatives when actuator force is clamped.
2026-02-11 13:31:07 -08:00
engine_derivative.h
Add implicit stiffness for flex_interp to mj_implicitSkip.
2026-02-09 11:54:27 -08:00
engine_forward.c
Fix implicit integrator derivatives for actearly actuators.
2026-02-11 04:03:46 -08:00
engine_forward.h
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
2025-12-01 07:39:00 -08:00
engine_global_table.h
Refactor global object tables logic.
2024-02-09 06:50:06 -08:00
engine_init.c
Add sleep related data structures
2025-11-06 12:10:55 -08:00
engine_init.h
Break out struct initialization functions into engine_init.c.
2025-09-25 19:22:27 -07:00
engine_inline.h
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
engine_inverse.c
Add mjData flags marking lazily evaluated pipeline stages
2026-01-27 09:45:06 -08:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Sparse ten_J and ten_J_colind
2026-02-13 06:57:22 -08:00
engine_io.h
Migrate mjModel size fields from int to mjtSize.
2026-01-23 09:41:49 -08:00
engine_island.c
Fix island graph construction for multi-tree constraints, fixes #3073
2026-02-11 10:05:32 -08:00
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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_memory.h
Reset contact efc_address in mj_clearEfc, fixes #2869
2025-10-13 06:18:41 -07:00
engine_name.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -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
Add implicit stiffness for flex_interp to mj_implicitSkip.
2026-02-09 11:54:27 -08:00
engine_passive.h
Add implicit stiffness for flex_interp to mj_implicitSkip.
2026-02-09 11:54:27 -08:00
engine_plugin.cc
fix: resolve symlinks when loading plugin libraries
2026-02-07 02:45:22 -08:00
engine_plugin.h
Create mjpDecoder, mj_parse, and mju_decodeResource
2025-10-30 12:54:40 -07:00
engine_print.c
Clean up X macros and usages for mjOption, mjStatistic, and mjVisual.
2026-02-13 09:10:36 -08:00
engine_print.h
Functions for printing the contents of mjvScene.
2025-09-29 02:47:17 -07:00
engine_ray.c
Breaking change: Add surface normal output to MuJoCo raycast functions.
2026-01-13 10:22:21 -08:00
engine_ray.h
Breaking change: Add surface normal output to MuJoCo raycast functions.
2026-01-13 10:22:21 -08:00
engine_sensor.c
Add actuator and sensor delays. Fixes #1004
2026-02-06 08:47:36 -08:00
engine_sensor.h
Add actuator and sensor delays. Fixes #1004
2026-02-06 08:47:36 -08:00
engine_setconst.c
Move flex vertex-edge adjacency to mjModel.
2026-01-27 07:41:47 -08:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_sleep.c
Add vertex equality option.
2026-01-23 16:30:05 -08:00
engine_sleep.h
Improve logic and documentation for sleeping sensors
2025-11-11 06:45:56 -08:00
engine_solver.c
Use the word "primal" for things that relate to both Newton and CG.
2026-01-05 23:56:57 -08:00
engine_solver.h
Add island support to Newton solver
2025-05-14 04:20:34 -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
Update MuJoCo version from 3.5.0 to 3.5.1 following the 3.5.0 release
2026-02-13 03:54:25 -08:00
engine_support.h
Fix implicit integrator derivatives for actearly actuators.
2026-02-11 04:03:46 -08:00
engine_util_blas.c
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
engine_util_blas.h
Refactor hfield-convex collision code. This should be a no-op.
2025-11-26 03:26:56 -08:00
engine_util_container.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_util_container.h
Handle initial_capacity = 0 in mju_arrayListCreate.
2023-08-22 04:04:02 -07:00
engine_util_errmem.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_util_errmem.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_util_misc.c
Rename "delay" buffer functions to "history" buffers.
2026-02-07 14:10:16 -08:00
engine_util_misc.h
Rename "delay" buffer functions to "history" buffers.
2026-02-07 14:10:16 -08:00
engine_util_solve.c
Improve bounds checking in engine_util_solve.c.
2026-01-08 02:44:38 -08:00
engine_util_solve.h
Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup.
2025-12-19 08:57:45 -08:00
engine_util_sparse_avx.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_util_sparse.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_sparse.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_spatial.c
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
engine_util_spatial.h
Update function signatures in engine_util_spatial.h to appease fussy GCC
2025-12-12 10:47:31 -08:00
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
Breaking change: Add surface normal output to MuJoCo raycast functions.
2026-01-13 10:22:21 -08:00
engine_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_visualize.c
Fix body category check for mocap body descendants in visualization.
2026-01-14 06:06:55 -08:00
engine_vis_visualize.h
Make mjv_cameraFrame and mjv_cameraFrustum public.
2025-11-14 00:03:18 -08:00