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99490163df46f65a0cabcf8efef61b3164faa620
Mujoco_WASM/src/engine
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Alessio Quaglino 99490163df Prevent NaN in cylinder SDF. 
Fixes #2573.

The correction matches the one used in MJX (see _cylinder_grad in collision_sdf.py).

PiperOrigin-RevId: 747887406
Change-Id: I1a4f1ac769adb96c98665eace7ce54fb09a7d3a2
2025-04-15 08:34:05 -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
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
Remove contact pruning with box-box collisions in nativeccd and add benchmarks.
2025-04-07 08:34:04 -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
Introduce trilinear flex parametrization.
2025-01-29 09:38:22 -08:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_gjk.c
Fix bug in replaceSimplex3 in nativeccd.
2025-04-10 07:04:27 -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 NaN in cylinder SDF.
2025-04-15 08:34:05 -07:00
engine_collision_sdf.h
Improved SDF objective function.
2023-11-24 09:07:17 -08:00
engine_core_constraint.c
Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
2025-03-04 17:34:35 -08:00
engine_core_constraint.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_core_smooth.c
Add tendon armature
2025-04-04 07:44:04 -07:00
engine_core_smooth.h
Add tendon armature
2025-04-04 07:44:04 -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
Avoid allocation and copying in implicit solver's addJTBJSparse
2024-12-30 04:19:10 -08:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Add tendon actuator force limits and tendon actuator force sensor.
2025-04-08 05:16:35 -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
Add tendon armature
2025-04-04 07:44:04 -07:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Add tendon actuator force limits and tendon actuator force sensor.
2025-04-08 05:16:35 -07:00
engine_io.h
Add fields in mjModel for supporting mesh multicontact in nativeccd.
2025-02-19 07:12:26 -08:00
engine_island.c
Add engine-internal convenience macro for allocating typed arrays, improve error message.
2024-12-11 09:04:44 -08:00
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
Introduce trilinear flex parametrization.
2025-01-29 09:38:22 -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
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
Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
2025-03-04 17:34:35 -08:00
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
Add engine-internal convenience macro for allocating typed arrays, improve error message.
2024-12-11 09:04:44 -08:00
engine_ray.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_sensor.c
Add tendon actuator force limits and tendon actuator force sensor.
2025-04-08 05:16:35 -07:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Add tendon armature
2025-04-04 07:44:04 -07:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_solver.c
Switch mj_solveM_island to use CSR representation
2025-01-20 18:36:04 -08:00
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 version number to 3.3.2 following the 3.3.1 release.
2025-04-10 13:17:20 -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 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
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
Introduce trilinear flex parametrization.
2025-01-29 09:38:22 -08:00
engine_util_misc.h
Introduce trilinear flex parametrization.
2025-01-29 09:38:22 -08:00
engine_util_solve.c
Move mju_cholFactorCount to engine_util_solve.
2025-04-10 06:56:31 -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 meaningless const qualifier for scalar arguments in sparse function signatures.
2024-09-27 06:37:18 -07:00
engine_util_sparse.c
Move mju_cholFactorCount to engine_util_solve.
2025-04-10 06:56:31 -07:00
engine_util_sparse.h
Move mju_cholFactorCount to engine_util_solve.
2025-04-10 06:56:31 -07:00
engine_util_spatial.c
Avoid square root in mju_makeFrame
2025-04-10 04:41:23 -07:00
engine_util_spatial.h
Add mju_mat2Rot.
2024-11-25 09:19:10 -08:00
engine_vis_init.c
Add circle to flexcomp and remove rope and loop from composite.
2024-11-27 10:14:25 -08:00
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_state.c
Fix function definition formatting.
2024-10-31 06:45:41 -07:00
engine_vis_state.h
Pass mjvOption to plugin visualize callback.
2023-04-21 08:44:20 -07:00
engine_vis_visualize.c
Copy texture coordinates from OBJ into flex. Fixes #2464.
2025-02-28 06:04:19 -08:00
engine_vis_visualize.h
Remove deprecated mjv_makeConnector function.
2024-10-28 04:51:47 -07:00