Alessio Quaglino 63c7175ed5 Adjust rotEPS for single precision in mju_mat2Rot. ...

This change defines rotEPS as 1e-6f when mjUSESINGLE is defined, and 1e-9 otherwise. With the larger epsilon for single precision, the algorithm converges in fewer iterations, allowing the test assertion for maximum iterations to be simplified to a constant 150.

PiperOrigin-RevId: 959070496
Change-Id: I4f6fae056cd71955d3921c01a9929af2cdd81fac

2026-08-04 09:38:28 -07:00

..

.clang-format

Disable clang-format for MuJoCo public headers and engine source.

2026-03-20 05:06:15 -07:00

CMakeLists.txt

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -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 missing contacts for deeply penetrating boxes.

2026-08-02 01:34:59 -07:00

engine_collision_convex.c

Set max in hill climbing support. When imax is the optimal index then this reduces from three iterations down to one.

2026-07-15 07:50:52 -07:00

engine_collision_convex.h

Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.

2026-06-16 08:33:09 -07:00

engine_collision_driver.c

Fix missing timer end calls on early returns in collision and actuation

2026-07-24 07:05:45 -07:00

engine_collision_driver.h

Modify mjc_FlexSDF to support mjPreContact directly.

2026-06-16 07:04:16 -07:00

engine_collision_gjk.c

Fix latent bug in multiccd so that we can never write more contacts than what the buffer space allows.

2026-08-03 12:07:00 -07:00

engine_collision_gjk.h

Support arbitrary large meshes in multiccd by reusing EPA memory.

2026-07-14 08:48:25 -07:00

engine_collision_primitive.c

Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.

2026-06-16 08:33:09 -07:00

engine_collision_primitive.h

Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.

2026-06-16 08:33:09 -07:00

engine_collision_sdf.c

Modify mjc_FlexSDF to support mjPreContact directly.

2026-06-16 07:04:16 -07:00

engine_collision_sdf.h

Modify mjc_FlexSDF to support mjPreContact directly.

2026-06-16 07:04:16 -07:00

engine_core_constraint.c

Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

2026-07-21 13:09:23 -07:00

engine_core_constraint.h

Fix sparse-path rotational Jacobian misalignment in mj_jacSum

2026-07-21 02:02:12 -07:00

engine_core_smooth.c

Add SO3 transmission and native orientation actuator.

2026-07-21 11:36:13 -07:00

engine_core_smooth.h

Remove legacy factorI/solveLD and clean up benchmarks/tests

2026-07-04 08:34:30 -07:00

engine_core_util.c

Fix sparse-path rotational Jacobian misalignment in mj_jacSum

2026-07-21 02:02:12 -07:00

engine_core_util.h

Fix sparse-path rotational Jacobian misalignment in mj_jacSum

2026-07-21 02:02:12 -07:00

engine_crossplatform.cc

Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

2026-07-21 13:09:23 -07:00

engine_crossplatform.h

Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

2026-07-21 13:09:23 -07:00

engine_derivative_fd.c

Migrate mjd_inverseFD mass Jacobian from qM to M

2026-07-03 15:35:52 -07:00

engine_derivative_fd.h

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_derivative.c

Add the geometric term to the flex stretch stiffness

2026-08-03 16:16:23 +01:00

engine_derivative.h

Replace the flex metric factorization with a block preconditioner

2026-07-29 14:36:15 +01:00

engine_forward.c

Add the pid actuator: setpoint inputs, integral action, slew rate limiting.

2026-08-01 04:28:43 -07:00

engine_forward.h

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -07:00

engine_global_table.h

Refactor global object tables logic.

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

engine_init.c

Increase default sleep_tolerance from 1e-4 to 1e-3.

2026-07-10 07:14:37 -07:00

engine_init.h

Break out struct initialization functions into engine_init.c.

2025-09-25 19:22:27 -07:00

engine_inline.h

Add runtime assertions to mji functions.

2026-06-16 08:36:32 -07:00

engine_inverse.c

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -07:00

engine_inverse.h

Initial open sourcing of MuJoCo.

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

engine_io.c

Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

2026-07-21 13:09:23 -07:00

engine_io.h

Add SO3 transmission and native orientation actuator.

2026-07-21 11:36:13 -07:00

engine_island.c

Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

2026-07-21 13:09:23 -07:00

engine_island.h

Merge pull request #3396 from teerthsharma:topo/linear-island-scratch

2026-07-20 16:16:35 -07:00

engine_macro.h

Clean up includes in src/engine

2025-09-16 09:36:44 -07:00

engine_memory.c

Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

2026-07-21 13:09:23 -07:00

engine_memory.h

Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

2026-07-21 13:09:23 -07:00

engine_name.c

Add the pid actuator: setpoint inputs, integral action, slew rate limiting.

2026-08-01 04:28:43 -07:00

engine_name.h

Add SO3 transmission and native orientation actuator.

2026-07-21 11:36:13 -07:00

engine_passive.c

Fix flex bending frame transformation when parent body is rotated.

2026-08-03 07:28:52 -07:00

engine_passive.h

Add geom adhesion: contacts that pull, via translated friction cones.

2026-07-20 08:35:45 -07:00

engine_plugin.cc

Add pluggable resource writing to MuJoCo

2026-07-09 10:47:48 -07:00

engine_plugin.h

Introduce mjpEncoder plugin architecture

2026-03-25 05:35:39 -07:00

engine_print.c

Add boolean flags for gravity compensation and surface velocity in mjModel.

2026-07-17 15:05:26 -07:00

engine_print.h

Functions for printing the contents of mjvScene.

2025-09-29 02:47:17 -07:00

engine_ray.c

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_ray.h

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_sensor.c

Add SO3 transmission and native orientation actuator.

2026-07-21 11:36:13 -07:00

engine_sensor.h

Add actuator and sensor delays. Fixes #1004

2026-02-06 08:47:36 -08:00

engine_setconst.c

Add the pid actuator: setpoint inputs, integral action, slew rate limiting.

2026-08-01 04:28:43 -07:00

engine_setconst.h

Initial open sourcing of MuJoCo.

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

engine_sleep.c

Add SO3 transmission and native orientation actuator.

2026-07-21 11:36:13 -07:00

engine_sleep.h

Implement RenderableManager.

2026-07-02 00:03:05 -07:00

engine_solver.c

Replace the flex metric factorization with a block preconditioner

2026-07-29 14:36:15 +01:00

engine_solver.h

Add per-island PGS solver dispatch.

2026-04-28 05:13:54 -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

Fix actuator_velocity indexing in the LuGre bristle update.

2026-07-29 17:48:05 +02:00

engine_support.h

Introduce new logging API, fixes #858

2026-06-11 14:36:57 -07:00

engine_thread.cc

Remove engine threading fallback.

2026-06-10 06:54:19 -07:00

engine_thread.h

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

engine_util_blas_avx.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_blas.c

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_blas.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_errmem.c

Fix data race lazy-init spin lock deadlock on Windows.

2026-07-04 12:07:34 -07:00

engine_util_errmem.h

Introduce new logging API, fixes #858

2026-06-11 14:36:57 -07:00

engine_util_misc.c

Convert clip and sign operations to branchless one-liners.

2026-07-07 04:27:26 -07:00

engine_util_misc.h

Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)

2026-06-23 05:52:14 -07:00

engine_util_solve.c

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -07:00

engine_util_solve.h

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -07:00

engine_util_sparse_avx.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_sparse.c

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_sparse.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_spatial.c

Adjust rotEPS for single precision in mju_mat2Rot.

2026-08-04 09:38:28 -07:00

engine_util_spatial.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

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

Function for converting mjvCamera to mjrCamera.

2026-07-20 01:40:41 -07:00

engine_vis_interact.h

Function for converting mjvCamera to mjrCamera.

2026-07-20 01:40:41 -07:00

engine_vis_visualize.c

Merge pull request #3387 from bd-pmorais:pmorais/renderer-live-mat-texid

2026-07-17 01:23:40 -07:00

engine_vis_visualize.h

Implement RenderableManager.

2026-07-02 00:03:05 -07:00