chenlin/Mujoco_WASM
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Mujoco_WASM/src/engine
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Haroon Qureshi 66a1c22cae Label all bodies, not just selected bodies, when mjLABEL_BODY is set. 
An earlier refactor incorrectly assumed that only selected bodies needed
labels.

PiperOrigin-RevId: 818568645
Change-Id: I7aea07c5342673dd589e1891d0db1f2b0c489fe4
2025-10-13 02:54:34 -07:00
..
CMakeLists.txt
Break out struct initialization functions into engine_init.c.
2025-09-25 19:22:27 -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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_collision_convex.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_gjk.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_collision_primitive.h
Circumvent bug in mjc_BoxBox.
2023-12-08 10:39:27 -08:00
engine_collision_sdf.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_collision_sdf.h
Add SDF functions to public API.
2025-05-12 10:53:39 -07:00
engine_core_constraint.c
Clean up engine_core_util
2025-10-03 08:48:11 -07:00
engine_core_constraint.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_core_smooth.c
Further simplification to mj_crb
2025-10-12 01:43:30 -07:00
engine_core_smooth.h
Use CSR matrices for dof-dof index mappings
2025-08-16 13:06:32 -07:00
engine_core_util.c
Quick return for static bodies in mj_object{Velocity,Acceleration}
2025-10-12 01:25:05 -07:00
engine_core_util.h
Clean up engine_core_util
2025-10-03 08:48:11 -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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -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_init.c
Remove unused mjOption.apirate.
2025-10-06 02:51:17 -07:00
engine_init.h
Break out struct initialization functions into engine_init.c.
2025-09-25 19:22:27 -07:00
engine_inverse.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_io.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_island.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
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
Clean up includes in src/engine
2025-09-16 09:36:44 -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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_print.h
Functions for printing the contents of mjvScene.
2025-09-29 02:47:17 -07:00
engine_ray.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_ray.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_sensor.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_solver.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_support.h
Extract memory allocation functions and core utilities
2025-09-01 03:38:25 -07:00
engine_util_blas.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_blas.h
Add mju_addToSymSparse
2025-05-12 16:19:43 -07:00
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
Implement faster mju_isZeroByte.
2025-10-02 02:53:53 -07:00
engine_util_misc.h
Implement faster mju_isZeroByte.
2025-10-02 02:53:53 -07:00
engine_util_solve.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_solve.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_util_sparse_avx.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_util_sparse.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_sparse.h
Return the total non-zeros from mju_sqrMatTDSparseCount.
2025-06-17 04:27:15 -07:00
engine_util_spatial.c
Refactor and speed up mj_crb and add a benchmark.
2025-10-06 10:54:01 -07:00
engine_util_spatial.h
Fix mismatched argument format in mju_mulInertVec declaration.
2025-10-06 11:40:32 -07:00
engine_vis_init.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_vis_init.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_vis_interact.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_visualize.c
Label all bodies, not just selected bodies, when mjLABEL_BODY is set.
2025-10-13 02:54:34 -07:00
engine_vis_visualize.h
Extract functions from mjv_updateCamera for calculating frames and frustums.
2025-09-11 04:10:59 -07:00