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Mujoco_WASM/test/engine
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Alessio Quaglino 7ca1bc6a56 Precompute rotated stiffness matrix before CG in implicit flex integrator. 
This gives a 3x speedup in implicitfast.

Also cleanup old code that was used in the dense factorization of the stiffness matrix before we switched to CG.

PiperOrigin-RevId: 915900315
Change-Id: Id6973c4bfd7d371a43ec6db982703969b23a3550
2026-05-15 02:58:06 -07:00
..
testdata
Margin and gap redesign (breaking change)
2026-05-12 09:43:43 -07:00
CMakeLists.txt
Add mj_raySdfNormal (not exposed in public header)
2025-12-09 04:43:39 -08:00
engine_collision_box_test.cc
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -07:00
engine_collision_convex_test.cc
Enable multiccd by default.
2026-04-20 12:00:10 -07:00
engine_collision_driver_test.cc
Add mj_maxContact API function.
2026-04-21 04:03:22 -07:00
engine_collision_gjk_test.cc
Margin and gap redesign (breaking change)
2026-05-12 09:43:43 -07:00
engine_collision_sdf_test.cc
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -07:00
engine_core_constraint_test.cc
Project out rigid body modes from flex strain equality constraints.
2026-05-05 06:01:15 -07:00
engine_core_smooth_test.cc
Optimize mj_tendonBias by computing Jdot * qvel directly
2026-04-10 04:57:55 -07:00
engine_core_util_test.cc
Implement multi-cell finite element method for interpolated flexes.
2026-04-17 04:13:19 -07:00
engine_derivative_test.cc
Precompute rotated stiffness matrix before CG in implicit flex integrator.
2026-05-15 02:58:06 -07:00
engine_forward_test.cc
Precompute rotated stiffness matrix before CG in implicit flex integrator.
2026-05-15 02:58:06 -07:00
engine_inverse_test.cc
Implement midpoint integrator for free bodies.
2026-04-13 10:58:49 -07:00
engine_io_test.cc
Extract memory allocation functions and core utilities
2025-09-01 03:38:25 -07:00
engine_island_test.cc
Randomize PGS constraint visitation order.
2026-05-05 05:10:26 -07:00
engine_passive_test.cc
Rotate undeformed normals before using them in the bending passive forces.
2026-05-10 03:00:11 -07:00
engine_plugin_test.cc
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -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
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -07:00
engine_sensor_test.cc
Fix tactile sensor body validation.
2026-05-13 08:11:36 -07:00
engine_setconst_test.cc
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -07:00
engine_sleep_test.cc
Implement midpoint integrator for free bodies.
2026-04-13 10:58:49 -07:00
engine_solver_test.cc
Enable multiccd by default.
2026-04-20 12:00:10 -07:00
engine_sort_test.cc
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
2025-09-18 12:28:09 -07:00
engine_support_test.cc
Add mju_sym2dense, document future breakage of mj_fullM
2026-05-04 14:25:53 -07:00
engine_thread_test.cc
Sparse ten_J and ten_J_colind
2026-02-13 06:57:22 -08:00
engine_util_blas_test.cc
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -07:00
engine_util_container_test.cc
Add error reporting to model loading in engine tests, where missing
2025-08-16 08:11:49 -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
Add 2D membrane elasticity for interpolated flex shell mode
2026-04-29 10:17:21 -07:00
engine_util_solve_test.cc
Add dense LU factorization and solve functions.
2026-05-02 13:27:04 -07:00
engine_util_sparse_test.cc
Add mju_sym2dense, document future breakage of mj_fullM
2026-05-04 14:25:53 -07:00
engine_util_spatial_test.cc
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -07:00
engine_vis_visualize_test.cc
Remove `mjWARN_VGEOMFULL, handle visual geom buffer full warnings in mjvScene`.
2026-04-08 07:17:53 -07:00