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Mujoco_WASM/test/engine
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Yuval Tassa a2d0e33c0f 2-3x speedup of sparse matrix squaring. 
Split symbolic and numeric phases for sparse `M'*diag*M` computation. Microseconds per call for the monolithic vs the split approach for the 100_humanoids and 2humanoid100 models:

```
+-------+------+----------+------------+---------+
| Model | Arch | Col (µs) | Split (µs) | Speedup |
+-------+------+----------+------------+---------+
| 2H100 | x86  | 238.3    | 74.5       | 3.2x    |
+-------+------+----------+------------+---------+
|       | ARM  | 111.6    | 53.2       | 2.1x    |
+-------+------+----------+------------+---------+
| 100H  | x86  | 1325.3   | 656.2      | 2.0x    |
+-------+------+----------+------------+---------+
|       | ARM  | 594.8    | 306.6      | 1.9x    |
+-------+------+----------+------------+---------+
```

PiperOrigin-RevId: 900154308
Change-Id: Ia6e9b8e196e2ed37b723a0faf60e9731303a9619
2026-04-15 07:19:41 -07:00
..
testdata
Add Jdot correction for connect and weld constaints
2026-04-13 12:48:03 -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
Make mj_gjkPenetration have the same signature as LibCCD penetration functions.
2024-08-09 07:40:17 -07:00
engine_collision_driver_test.cc
Replace margin/gap max with sum.
2026-02-11 14:22:27 -08:00
engine_collision_gjk_test.cc
Fix issue in GJK where the tolerance for x_norm was set too low.
2026-03-09 02:14:52 -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
Add Jdot correction for connect and weld constaints
2026-04-13 12:48:03 -07:00
engine_core_smooth_test.cc
Optimize mj_tendonBias by computing Jdot * qvel directly
2026-04-10 04:57:55 -07:00
engine_derivative_test.cc
Implement midpoint integrator for free bodies.
2026-04-13 10:58:49 -07:00
engine_forward_test.cc
Implement midpoint integrator for free bodies.
2026-04-13 10:58:49 -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
Fix island graph construction for multi-tree constraints, fixes #3073
2026-02-11 10:05:32 -08:00
engine_passive_test.cc
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -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
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -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
Add Jdot correction for connect and weld constaints
2026-04-13 12:48:03 -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
Implement sparse Jacobian time derivative
2026-04-10 04:08:06 -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
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -07:00
engine_util_solve_test.cc
Enable float32 testing for most MuJoCo engine and user tests.
2026-03-20 04:05:06 -07:00
engine_util_sparse_test.cc
2-3x speedup of sparse matrix squaring.
2026-04-15 07:19:41 -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