chenlin/Mujoco_WASM
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849a650143980eeba6ad299f8eb42208f6843c4f
Mujoco_WASM/src/engine
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Yuval Tassa 849a650143 Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup. 
PiperOrigin-RevId: 846754379
Change-Id: Ie599658db2907a26095072d97d07b99a693050dc
2025-12-19 08:57:45 -08:00
..
CMakeLists.txt
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
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 aliasing violations in engine_collision_box.c
2025-12-12 05:35:42 -08:00
engine_collision_convex.c
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
engine_collision_convex.h
Refactor hfield-convex collision code. This should be a no-op.
2025-11-26 03:26:56 -08:00
engine_collision_driver.c
Restructure AAMM storage for improved cache locality in broadphase, ~35% speedup (of broadphase).
2025-11-11 11:46:08 -08:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_gjk.c
Refactor epaWitness.
2025-11-25 03:44:57 -08:00
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
Fix aliasing issues in engine_collision_primitive.c
2025-12-12 06:36:34 -08:00
engine_collision_primitive.h
Circumvent bug in mjc_BoxBox.
2023-12-08 10:39:27 -08:00
engine_collision_sdf.c
Cosmetic cleanup in engine_collision_sdf.c
2025-11-27 09:24:56 -08:00
engine_collision_sdf.h
Add SDF functions to public API.
2025-05-12 10:53:39 -07:00
engine_core_constraint.c
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
engine_core_constraint.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_core_smooth.c
Fix aliasing issues in engine_core_smooth.c
2025-12-12 08:25:06 -08:00
engine_core_smooth.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_core_util.c
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
engine_core_util.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
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
Refactor hfield-convex collision code. This should be a no-op.
2025-11-26 03:26:56 -08:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
2025-12-01 07:39:00 -08:00
engine_forward.h
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
2025-12-01 07:39:00 -08:00
engine_global_table.h
Refactor global object tables logic.
2024-02-09 06:50:06 -08:00
engine_init.c
Add sleep related data structures
2025-11-06 12:10:55 -08:00
engine_init.h
Break out struct initialization functions into engine_init.c.
2025-09-25 19:22:27 -07:00
engine_inline.h
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
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
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
engine_io.h
Make mj_loadModelBuffer a public API.
2025-12-11 01:24:17 -08:00
engine_island.c
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
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
Reset contact efc_address in mj_clearEfc, fixes #2869
2025-10-13 06:18:41 -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
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
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
Create mjpDecoder, mj_parse, and mju_decodeResource
2025-10-30 12:54:40 -07:00
engine_plugin.h
Create mjpDecoder, mj_parse, and mju_decodeResource
2025-10-30 12:54:40 -07:00
engine_print.c
Change mjtSize from uint64_t to int64_t.
2025-11-19 07:55:54 -08:00
engine_print.h
Functions for printing the contents of mjvScene.
2025-09-29 02:47:17 -07:00
engine_ray.c
Consolidate ray normal functions.
2025-12-09 10:36:10 -08:00
engine_ray.h
Consolidate ray normal functions.
2025-12-09 10:36:10 -08:00
engine_sensor.c
Refactor hfield-convex collision code. This should be a no-op.
2025-11-26 03:26:56 -08:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_sleep.c
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
engine_sleep.h
Improve logic and documentation for sleeping sensors
2025-11-11 06:45:56 -08:00
engine_solver.c
Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup.
2025-12-19 08:57:45 -08:00
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
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
engine_support.h
Change the type of state signature arguments from unsigned int to int
2025-12-11 04:34:36 -08:00
engine_util_blas.c
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
engine_util_blas.h
Refactor hfield-convex collision code. This should be a no-op.
2025-11-26 03:26:56 -08:00
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
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
engine_util_misc.h
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
engine_util_solve.c
Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup.
2025-12-19 08:57:45 -08:00
engine_util_solve.h
Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup.
2025-12-19 08:57:45 -08:00
engine_util_sparse_avx.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_util_sparse.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_sparse.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_spatial.c
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
2025-12-12 04:49:29 -08:00
engine_util_spatial.h
Update function signatures in engine_util_spatial.h to appease fussy GCC
2025-12-12 10:47:31 -08:00
engine_vis_init.c
Add flag for depth rendering.
2025-12-18 04:36:26 -08:00
engine_vis_init.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_vis_interact.c
Add mju_interpolate3D.
2025-10-16 04:39:24 -07:00
engine_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_visualize.c
Minor clean-up of some visualization code.
2025-12-10 05:09:53 -08:00
engine_vis_visualize.h
Make mjv_cameraFrame and mjv_cameraFrustum public.
2025-11-14 00:03:18 -08:00