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Mujoco_WASM/src/engine
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Alessio Quaglino 7baaa39846 Add SDF geom to test/testdata/model.xml. 
Also, when a mesh has both an octree and a bvh, render only the octree.

PiperOrigin-RevId: 790680831
Change-Id: Iaf3896933f6728af4db1eaa83ff5b06558ab0d19
2025-08-04 03:53:51 -07:00
..
CMakeLists.txt
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
2025-05-19 09:51:58 -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 typos.
2025-01-16 06:28:54 -08:00
engine_collision_convex.c
Fix sign in cylinder support function.
2025-07-21 05:12:16 -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
Remove unnecessary loop from mj_collideOBB.
2025-07-08 10:50:33 -07:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_gjk.c
Support 0-simplex in GJK code, and refactor code for efficiency and readability.
2025-05-28 04:19:13 -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
Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.
2024-09-16 03:40:17 -07:00
engine_collision_primitive.h
Circumvent bug in mjc_BoxBox.
2023-12-08 10:39:27 -08:00
engine_collision_sdf.c
Prevent ray casting from stopping at the SDF bounding box.
2025-07-29 03:10:02 -07:00
engine_collision_sdf.h
Add SDF functions to public API.
2025-05-12 10:53:39 -07:00
engine_core_constraint.c
Fix comment typo in getimpedance.
2025-07-01 05:33:47 -07:00
engine_core_constraint.h
Remove unused code related to legacy island implementation.
2025-05-12 15:39:16 -07:00
engine_core_smooth.c
Refactor mj_crb and mj_tendonArmature to use CSR M.
2025-06-21 04:49:06 -07:00
engine_core_smooth.h
Expose mj_makeM as a sub-component.
2025-05-27 00:35:55 -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
Add engine-internal convenience macro for allocating typed arrays, improve error message.
2024-12-11 09:04:44 -08:00
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
Remove explicit mjModel dependency from engine_util_misc.c
2025-07-07 08:33:19 -07:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Make island discovery compatible with flex
2025-06-30 03:16:57 -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_inverse.c
Fix bug in inverse dynamics when tendon armature is present.
2025-06-20 02:25:04 -07:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Fix the format string when printing uintptr_t
2025-07-31 07:50:45 -07:00
engine_io.h
Add octree to meshes of SDF geoms.
2025-06-30 10:50:15 -07:00
engine_island.c
Make island discovery compatible with flex
2025-06-30 03:16:57 -07:00
engine_island.h
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_macro.h
Improvements to timing.
2023-10-09 11:14:44 -07:00
engine_name.c
Split name2id and id2name into a separate source file.
2024-06-27 10:50:21 -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
Remove explicit mjModel dependency from engine_util_misc.c
2025-07-07 08:33:19 -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
Print contact forces in mj_printData.
2025-07-08 04:11:10 -07:00
engine_print.h
Improve printing of inertia-like matrices, allow mj_printData to take const mjData*
2025-01-21 19:59:45 -08:00
engine_ray.c
Use the geom frame for SDF collisions.
2025-07-10 05:16:51 -07:00
engine_ray.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_sensor.c
Move tactile sensor to the engine.
2025-07-30 05:27:44 -07:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Add private function mj_makeM.
2025-05-12 03:52:38 -07:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_solver.c
Return the total non-zeros from mju_sqrMatTDSparseCount.
2025-06-17 04:27:15 -07:00
engine_solver.h
Add island support to Newton solver
2025-05-14 04:20:34 -07:00
engine_sort.h
Add mjPARTIAL_SORT macro to engine_sort.h
2025-07-14 12:26:36 -07:00
engine_support.c
Clamp dist in mj_geomDistanceCCD. Closes #2710
2025-07-21 05:09:38 -07:00
engine_support.h
Add contact sensor.
2025-07-14 13:03:35 -07:00
engine_util_blas.c
Add mju_addToSymSparse
2025-05-12 16:19:43 -07:00
engine_util_blas.h
Add mju_addToSymSparse
2025-05-12 16:19:43 -07:00
engine_util_container.c
Add engine-internal convenience macro for allocating typed arrays, improve error message.
2024-12-11 09:04:44 -08:00
engine_util_container.h
Handle initial_capacity = 0 in mju_arrayListCreate.
2023-08-22 04:04:02 -07:00
engine_util_errmem.c
Gate some calls with __EMSCRIPTEN__
2025-05-23 12:10:52 -07:00
engine_util_errmem.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_util_misc.c
Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM.
2025-07-31 07:08:33 -07:00
engine_util_misc.h
Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM.
2025-07-31 07:08:33 -07:00
engine_util_solve.c
Remove unused code related to legacy island implementation.
2025-05-12 15:39:16 -07:00
engine_util_solve.h
Move mju_cholFactorCount to engine_util_solve.
2025-04-10 06:56:31 -07:00
engine_util_sparse_avx.h
Remove unused code related to legacy island implementation.
2025-05-12 15:39:16 -07:00
engine_util_sparse.c
Return the total non-zeros from mju_sqrMatTDSparseCount.
2025-06-17 04:27:15 -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
Add clarifying comments to mju_transformSpatial
2025-07-14 04:03:14 -07:00
engine_util_spatial.h
Add mju_mat2Rot.
2024-11-25 09:19:10 -08:00
engine_vis_init.c
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
2025-07-15 09:08:22 -07:00
engine_vis_init.h
Add optional azimuth and elevation to initial free camera.
2022-08-05 01:04:02 -07:00
engine_vis_interact.c
Use qLDiagInv instead of qLD in engine_vis_interact.c
2025-03-06 21:15:36 -08:00
engine_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_visualize.c
Add SDF geom to test/testdata/model.xml.
2025-08-04 03:53:51 -07:00
engine_vis_visualize.h
Remove deprecated mjv_makeConnector function.
2024-10-28 04:51:47 -07:00