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

..

benchmark

Cache benchmark data in engine_util_sparse_benchmark_test

2026-04-20 08:29:56 -07:00

engine

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

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

experimental

Move mjz_decoder out of experimental to xml/mjz.

2026-05-07 10:52:03 -07:00

plugin

Introduce mjpEncoder plugin architecture

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

sample

Implement sleeping in engine

2025-11-07 03:33:07 -08:00

testdata

Enable multiccd for golden data.

2026-04-09 03:07:01 -07:00

thread

Reduce cmake test boilerplate

2024-12-07 17:14:20 +01:00

user

Add configurable octree max depth for meshes.

2026-05-08 06:35:45 -07:00

xml

Move mjz_decoder out of experimental to xml/mjz.

2026-05-07 10:52:03 -07:00

CMakeLists.txt

Convert monolithic RecompileCompare and WriteReadCompare tests into test suites, one test per file.

2026-03-26 18:21:49 -07:00

fixture_test.cc

Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.

2024-02-19 05:40:31 -08:00

fixture.cc

Add flex arrays to CompareModel check.

2026-05-08 08:47:51 -07:00

fixture.h

Enable float32 testing for most MuJoCo engine and user tests.

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

header_test.cc

Fix header_test.cc.

2026-02-13 11:43:45 -08:00

pipeline_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

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