Kyle Bayes 0e8cca93e1 Refactor nativeccd interface. ...

- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).

PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e

2024-11-13 10:28:45 -08:00

..

testdata

Remove box, cylinder and ellipsoid composite types.

2024-11-02 11:14:13 -07:00

CMakeLists.txt

mjQUICKSORT uses std::sort with C++.

2024-08-08 10:24:34 -07:00

engine_collision_box_test.cc

Fix bug introduced in 7942fe957e

2023-12-14 13:30:38 -08:00

engine_collision_convex_test.cc

Make mj_gjkPenetration have the same signature as LibCCD penetration functions.

2024-08-09 07:40:17 -07:00

engine_collision_driver_test.cc

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_collision_gjk_test.cc

Refactor nativeccd interface.

2024-11-13 10:28:45 -08:00

engine_collision_sdf_test.cc

Add Signed Distance Field to collision geometries.

2023-08-16 09:15:23 -07:00

engine_core_constraint_test.cc

Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179

2024-10-28 10:44:04 -07:00

engine_core_smooth_test.cc

Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179

2024-10-28 10:44:04 -07:00

engine_derivative_test.cc

Use sparse (uncompressed) actuator_moment in mj_transmission.

2024-11-01 08:06:28 -07:00

engine_forward_test.cc

Move AsVector utility to fixture.h

2024-10-28 05:52:25 -07:00

engine_inverse_test.cc

PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1.

2023-09-11 11:09:53 -07:00

engine_io_test.cc

Rename nnzJ to nJ in mjData.

2024-10-31 10:43:10 -07:00

engine_island_test.cc

Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179

2024-10-28 10:44:04 -07:00

engine_passive_test.cc

Add automatic free-joint alignment.

2024-09-04 10:07:33 -07:00

engine_plugin_test.cc

Move flex damping to the engine and remove membrane and solid plugins.

2024-09-19 09:01:30 -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

Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.

2024-06-16 10:02:36 -07:00

engine_sensor_test.cc

Don't normalize mjData->qpos quaternions in-place.

2024-06-29 03:07:10 -07:00

engine_solver_test.cc

Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179

2024-10-28 10:44:04 -07:00

engine_sort_test.cc

Replace mjQUICKSORT with faster, native sorting function. fixes #1638

2024-10-22 06:05:12 -07:00

engine_support_test.cc

Move AsVector utility to fixture.h

2024-10-28 05:52:25 -07:00

engine_thread_test.cc

Add missing models to all_models and all_test_models.

2023-10-18 08:59:54 -07:00

engine_util_blas_test.cc

Add tests for mju_normalize4.

2024-07-01 10:58:35 -07:00

engine_util_container_test.cc

Remove mjMARKSTACK and mjFREESTACK macros.

2023-09-05 11:41:43 -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

Fix changelog by moving bug fix to proper section.

2024-08-28 07:07:11 -07:00

engine_util_solve_test.cc

Clarify in mju_boxQP test that for the synthetic test set, the average number of factorizations is expected to be 5 or less, while the worst case is expected to be 6 or less.

2024-10-29 08:55:50 -07:00

engine_util_sparse_test.cc

Add nnz argument for size of allocated memory to mju_dense2sparse and check if this number is too small for number of non-zeros.

2024-10-28 03:46:50 -07:00

engine_util_spatial_test.cc

Move AsVector utility to fixture.h

2024-10-28 05:52:25 -07:00

engine_vis_state_test.cc

Fix a few issues with the passive viewer.

2023-12-18 07:33:19 -08:00