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Mujoco_WASM/test/engine
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Adrian Collister 6f0246baf3 Add test for Flex contact and touch sensors. 
The test verifies that contact sensors on subtrees and touch sensors on sites correctly register contacts involving Flex components.

PiperOrigin-RevId: 929109418
Change-Id: I1865311a6da838d75ef33989ac7f3c2d975cdbff
2026-06-09 04:29:40 -07:00
..
testdata
Allow flex sleeping
2026-05-19 07:15:27 -07:00
CMakeLists.txt
Add mj_raySdfNormal (not exposed in public header)
2025-12-09 04:43:39 -08:00
engine_cg_convergence_test.cc
Add manual test for CG converence
2026-05-31 03:15:54 -07:00
engine_collision_box_test.cc
Introduce mjPreContact, a minimal struct passed into the collision functions.
2026-05-20 10:47:46 -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
Tune constants for nativeccd to perform better with single precision.
2026-06-08 07:21:17 -07:00
engine_collision_sdf_test.cc
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_core_constraint_test.cc
Enable interior nodes for interpolated flex shell mode.
2026-05-31 10:36:01 -07:00
engine_core_smooth_test.cc
Refactor mj_fullM. This change is part of the deprecation of mjData.qM.
2026-06-02 17:22:55 -07:00
engine_core_util_test.cc
Enable interior nodes for interpolated flex shell mode.
2026-05-31 10:36:01 -07:00
engine_derivative_test.cc
Refactor mj_fullM. This change is part of the deprecation of mjData.qM.
2026-06-02 17:22:55 -07:00
engine_forward_test.cc
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_inverse_test.cc
Improve CG solver precision and stability under float32 via line search refactor
2026-05-31 04:00:09 -07:00
engine_io_test.cc
Merge pull request #3120 from Ashutosh0x:fix/safe-overflow-msvc
2026-05-29 03:12:40 -07:00
engine_island_test.cc
Move island-specific sparse matrices from arena to stack.
2026-05-30 03:09:46 -07:00
engine_passive_test.cc
Add manual test for CG converence
2026-05-31 03:15:54 -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
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_sensor_test.cc
Add test for Flex contact and touch sensors.
2026-06-09 04:29:40 -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
Allow flex sleeping
2026-05-19 07:15:27 -07:00
engine_solver_test.cc
Improve CG solver precision and stability under float32 via line search refactor
2026-05-31 04:00:09 -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
Refactor mj_fullM. This change is part of the deprecation of mjData.qM.
2026-06-02 17:22:55 -07:00
engine_thread_test.cc
Add new mju_threadpool API function, and delete old threading API.
2026-05-28 10:11:44 -07:00
engine_util_blas_test.cc
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -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
Remove deprecated mju_{error,warning}_{i,s} functions.
2026-06-02 01:59:05 -07:00
engine_util_misc_test.cc
Enable interior nodes for interpolated flex shell mode.
2026-05-31 10:36:01 -07:00
engine_util_solve_test.cc
Add manual test for CG converence
2026-05-31 03:15:54 -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
Add manual test for CG converence
2026-05-31 03:15:54 -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