chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity
Files
864b805a6eb557aa2676d3d0184cdc1afaacb2a7
Mujoco_WASM/src/engine
T
History
Yuval Tassa 864b805a6e Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179 
The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.

PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
2024-10-28 10:44:04 -07:00
..
CMakeLists.txt
mjQUICKSORT uses std::sort with C++.
2024-08-08 10:24:34 -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
Add spaces around comparison operators in engine source files.
2023-05-28 05:02:34 -07:00
engine_callback.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_collision_box.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_convex.c
Add faster support functions for NativeCCD.
2024-10-11 05:59:30 -07:00
engine_collision_convex.h
Add faster support functions for NativeCCD.
2024-10-11 05:59:30 -07:00
engine_collision_driver.c
Remove goto statement from engine collision code.
2024-10-22 07:22:18 -07:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_gjk.c
Avoid overflowing the stack when allocating memory for polytope in EPA.
2024-10-22 12:11:22 -07:00
engine_collision_gjk.h
Add faster support functions for NativeCCD.
2024-10-11 05:59:30 -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
Replace mjQUICKSORT with faster, native sorting function. fixes #1638
2024-10-22 06:05:12 -07:00
engine_collision_sdf.h
Improved SDF objective function.
2023-11-24 09:07:17 -08:00
engine_core_constraint.c
Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179
2024-10-28 10:44:04 -07:00
engine_core_constraint.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_core_smooth.c
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.h
Add Flex component.
2023-10-12 10:49:35 +01:00
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
Move sanitizer instrumentation to a separate header file. Fixes #2049.
2024-09-10 09:05:35 -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
Move sanitizer instrumentation to a separate header file. Fixes #2049.
2024-09-10 09:05:35 -07:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Move sanitizer instrumentation to a separate header file. Fixes #2049.
2024-09-10 09:05:35 -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
Move sanitizer instrumentation to a separate header file. Fixes #2049.
2024-09-10 09:05:35 -07:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Avoid overflowing the stack when allocating memory for polytope in EPA.
2024-10-22 12:11:22 -07:00
engine_io.h
Avoid overflowing the stack when allocating memory for polytope in EPA.
2024-10-22 12:11:22 -07:00
engine_island.c
Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179
2024-10-28 10:44:04 -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
Move flex damping to the engine and remove membrane and solid plugins.
2024-09-19 09:01:30 -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
Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.
2024-10-14 09:07:22 -07:00
engine_print.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_ray.c
Fix typos in engine_ray.c.
2024-10-12 16:05:43 -07:00
engine_ray.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_sensor.c
Remove rootid from touch sensor (unused).
2024-10-12 08:10:09 -07:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Add site semantics to weld constraint. Fixes #1896
2024-09-16 05:46:01 -07:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_solver.c
Refactor Newton solver: move Hessian from arena back to the stack.
2024-10-14 08:34:16 -07:00
engine_solver.h
Add island support to CG solver.
2023-09-15 05:47:24 -07:00
engine_sort.h
Replace mjQUICKSORT with faster, native sorting function. fixes #1638
2024-10-22 06:05:12 -07:00
engine_support.c
Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release.
2024-10-16 14:24:06 -07:00
engine_support.h
Add reduced sparse dof-dof matrix structures to mjData.
2024-09-04 04:24:02 -07:00
engine_util_blas.c
Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.
2024-10-24 09:15:23 -07:00
engine_util_blas.h
Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.
2024-10-24 09:15:23 -07:00
engine_util_container.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -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
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_util_errmem.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_util_misc.c
Clean up tendon wrapping code.
2024-09-16 09:47:22 -07:00
engine_util_misc.h
Fix mismatch in mju_wrap function signature definition.
2024-09-16 10:34:22 -07:00
engine_util_solve.c
Stop over-allocating memory in Newton solver.
2024-10-11 05:09:33 -07:00
engine_util_solve.h
Stop over-allocating memory in Newton solver.
2024-10-11 05:09:33 -07:00
engine_util_sparse_avx.h
Remove meaningless const qualifier for scalar arguments in sparse function signatures.
2024-09-27 06:37:18 -07:00
engine_util_sparse.c
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_sparse.h
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.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_util_spatial.h
Add mju_euler2Quat.
2024-04-10 06:02:50 -07:00
engine_vis_init.c
Add orthographic cameras.
2024-06-11 09:23:18 -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
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_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_state.c
Fix a few issues with the passive viewer.
2023-12-18 07:33:19 -08:00
engine_vis_state.h
Pass mjvOption to plugin visualize callback.
2023-04-21 08:44:20 -07:00
engine_vis_visualize.c
Remove deprecated mjv_makeConnector function.
2024-10-28 04:51:47 -07:00
engine_vis_visualize.h
Remove deprecated mjv_makeConnector function.
2024-10-28 04:51:47 -07:00