Mujoco_WASM

CMakeLists.txt

Replace mjv_sceneState and related code with mjv_copy{Model,Data}

2025-05-19 09:51:58 -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

Fix sign in cylinder support function.

2025-07-21 05:12:16 -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

Remove unnecessary loop from mj_collideOBB.

2025-07-08 10:50:33 -07:00

engine_collision_driver.h

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_collision_gjk.c

Update x_norm in tetrahedron case in GJK.

2025-08-08 07:52:00 -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

Use mj_rayMesh for computing an inexact SDF for mesh-SDF collisions.

2025-08-13 07:50:06 -07:00

engine_collision_sdf.h

Add SDF functions to public API.

2025-05-12 10:53:39 -07:00

engine_core_constraint.c

Remove transposed Jacobian fields from mjData

2025-08-21 07:21:24 -07:00

engine_core_constraint.h

Remove unused code related to legacy island implementation.

2025-05-12 15:39:16 -07:00

engine_core_smooth.c

Delete sparsity structures from mjData, use the ones in mjModel

2025-08-14 09:13:02 -07:00

engine_core_smooth.h

Use CSR matrices for dof-dof index mappings

2025-08-16 13:06:32 -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

Delete sparsity structures from mjData, use the ones in mjModel

2025-08-14 09:13:02 -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

Delete sparsity structures from mjData, use the ones in mjModel

2025-08-14 09:13:02 -07:00

engine_derivative.h

Add mjd_quatIntegrate, expose mjd_subQuat.

2023-07-07 05:33:24 -07:00

engine_forward.c

Make constraint island discovery on by default.

2025-08-26 04:27:24 -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

Use CSR matrices for dof-dof index mappings

2025-08-16 13:06:32 -07:00

engine_inverse.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

engine_io.c

Use CSR matrices for dof-dof index mappings

2025-08-16 13:06:32 -07:00

engine_io.h

Use CSR matrices for dof-dof index mappings

2025-08-16 13:06:32 -07:00

engine_island.c

Make constraint island discovery on by default.

2025-08-26 04:27:24 -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

Decrease time step in shell examples.

2025-08-18 09:00:10 -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

Add printing of block-diagonalized matrices

2025-08-28 00:54:39 -07:00

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

Fix bug in raycast to hfield. Fixes #2765

2025-08-04 09:40:59 -07:00

engine_ray.h

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_sensor.c

Allow contact sensor subtree1/subtree2 to be any body.

2025-08-26 11:00:39 -07:00

engine_sensor.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

engine_setconst.c

Add private function mj_makeM.

2025-05-12 03:52:38 -07:00

engine_setconst.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

engine_solver.c

Compute sparse Jacobian transpose inside solver.

2025-08-21 06:55:48 -07:00

engine_solver.h

Add island support to Newton solver

2025-05-14 04:20:34 -07:00

engine_sort.h

Add mjPARTIAL_SORT macro to engine_sort.h

2025-07-14 12:26:36 -07:00

engine_support.c

Make constraint island discovery on by default.

2025-08-26 04:27:24 -07:00

engine_support.h

Improve mj_addM and associated test

2025-08-23 03:56:47 -07:00

engine_util_blas.c

Add mju_addToSymSparse

2025-05-12 16:19:43 -07:00

engine_util_blas.h

Add mju_addToSymSparse

2025-05-12 16:19:43 -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

Gate some calls with __EMSCRIPTEN__

2025-05-23 12:10:52 -07:00

engine_util_errmem.h

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_util_misc.c

Add utility functions for mapping between sparse matrix patterns.

2025-08-15 11:22:35 -07:00

engine_util_misc.h

Add utility functions for mapping between sparse matrix patterns.

2025-08-15 11:22:35 -07:00

engine_util_solve.c

Remove unused code related to legacy island implementation.

2025-05-12 15:39:16 -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 unused code related to legacy island implementation.

2025-05-12 15:39:16 -07:00

engine_util_sparse.c

Allow transposing of sparse sub-matrices whose first row is > 0

2025-08-21 05:56:33 -07:00

engine_util_sparse.h

Return the total non-zeros from mju_sqrMatTDSparseCount.

2025-06-17 04:27:15 -07:00

engine_util_spatial.c

Add clarifying comments to mju_transformSpatial

2025-07-14 04:03:14 -07:00

engine_util_spatial.h

Add mju_mat2Rot.

2024-11-25 09:19:10 -08:00

engine_vis_init.c

Fix cast; should be mjtGeom not mjtMouse.

2025-08-22 05:47:49 -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

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_visualize.c

Improve island visualization colors and logic.

2025-08-18 05:03:41 -07:00

engine_vis_visualize.h

Remove deprecated mjv_makeConnector function.

2024-10-28 04:51:47 -07:00