Alessio Quaglino 5ee8bd7b9c Rotate undeformed normals before using them in the bending passive forces. ...

The normal jump residual in flex elasticity calculations now rotates the rest-frame normal jump into the current frame using the face's corotational quaternion before subtracting the jump from the current normal difference.

PiperOrigin-RevId: 913242127
Change-Id: Ia62b28ecccd59e79225737d8225ef4131b333c96

2026-05-10 03:00:11 -07:00

..

testdata

Add Jdot correction for connect and weld constaints

2026-04-13 12:48:03 -07:00

CMakeLists.txt

Add mj_raySdfNormal (not exposed in public header)

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

engine_collision_box_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -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

Enable multiccd by default.

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

engine_collision_sdf_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

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

engine_core_constraint_test.cc

Project out rigid body modes from flex strain equality constraints.

2026-05-05 06:01:15 -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

Implement multi-cell finite element method for interpolated flexes.

2026-04-17 04:13:19 -07:00

engine_derivative_test.cc

Restrict midpoint integration to unconstrained free bodies in implicitfast

2026-05-01 08:41:47 -07:00

engine_forward_test.cc

Restrict midpoint integration to unconstrained free bodies in implicitfast

2026-05-01 08:41:47 -07:00

engine_inverse_test.cc

Implement midpoint integrator for free bodies.

2026-04-13 10:58:49 -07:00

engine_io_test.cc

Extract memory allocation functions and core utilities

2025-09-01 03:38:25 -07:00

engine_island_test.cc

Randomize PGS constraint visitation order.

2026-05-05 05:10:26 -07:00

engine_passive_test.cc

Rotate undeformed normals before using them in the bending passive forces.

2026-05-10 03:00:11 -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

Enable float32 testing for most MuJoCo engine and user tests.

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

engine_sensor_test.cc

Fix insidesite sensor for massless flex parent bodies.

2026-05-01 08:27:04 -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

Implement midpoint integrator for free bodies.

2026-04-13 10:58:49 -07:00

engine_solver_test.cc

Enable multiccd by default.

2026-04-20 12:00:10 -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

Sparse ten_J and ten_J_colind

2026-02-13 06:57:22 -08:00

engine_util_blas_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -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 2D membrane elasticity for interpolated flex shell mode

2026-04-29 10:17:21 -07:00

engine_util_solve_test.cc

Add dense LU factorization and solve functions.

2026-05-02 13:27:04 -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

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -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