teerthsharma bc32db7f25 Cache island topology data ...

Store island topology in `mjData` so repeated island solves can reuse stable connect/weld equality partitions. Add cache invalidation checks for active equality changes and cover the fast path with an island regression test.

Signed-off-by: teerthsharma <teerths57@gmail.com>

2026-07-20 22:27:42 +05:30

..

testdata

Add geom surfacevel: zero-dof conveyors, treadmills and turntables.

2026-07-15 17:58:17 -07:00

CMakeLists.txt

Add missing tests to cmake

2026-07-10 07:24:50 -07:00

engine_cg_convergence_test.cc

Add manual test for CG converence

2026-05-31 03:15:54 -07:00

engine_collision_box_test.cc

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -07:00

engine_collision_convex_test.cc

Enable multiccd by default.

2026-04-20 12:00:10 -07:00

engine_collision_driver_test.cc

Include gap in body_margin, fixing mid-phase pruning of in-gap contacts.

2026-07-13 05:04:55 -07:00

engine_collision_gjk_test.cc

Support arbitrary large meshes in multiccd by reusing EPA memory.

2026-07-14 08:48:25 -07:00

engine_collision_sdf_test.cc

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -07:00

engine_core_constraint_test.cc

Add geom adhesion: contacts that pull, via translated friction cones.

2026-07-20 08:35:45 -07:00

engine_core_smooth_test.cc

Interpret position and intvelocity setpoints on 3D rotational transmissions (ball joints, site+refsite) on the circle. The force uses the setpoint representative nearest the current length for smooth tracking beyond pi.

2026-07-17 07:49:30 -07:00

engine_core_util_test.cc

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -07:00

engine_derivative_test.cc

Implicit flex elasticity in the CG constraint solver via an effective metric

2026-07-15 14:57:42 -07:00

engine_forward_test.cc

Apply unsymmetrized fluid derivatives to standalone free bodies in implicitfast.

2026-07-16 04:47:56 -07:00

engine_inverse_test.cc

Remove midpoint integration, superseded by free-body gyroscopic derivatives.

2026-07-15 12:07:44 -07:00

engine_io_test.cc

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -07:00

engine_island_test.cc

Cache island topology data

2026-07-20 22:27:42 +05:30

engine_passive_test.cc

Support pinned flex vertices with bending

2026-07-08 04:02:31 -07:00

engine_pgs_convergence_test.cc

Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)

2026-06-23 05:52:14 -07:00

engine_plugin_test.cc

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -07:00

engine_print_test.cc

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -07:00

engine_ray_test.cc

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -07:00

engine_sensor_test.cc

Calibrate float32 tolerances for several engine tests.

2026-07-14 00:51:48 -07:00

engine_setconst_test.cc

Add body/simple attribute to control simple body optimization.

2026-07-03 09:09:30 -07:00

engine_sleep_test.cc

Remove midpoint integration, superseded by free-body gyroscopic derivatives.

2026-07-15 12:07:44 -07:00

engine_solver_test.cc

Add zero-iteration early exit to the primal solvers, certified by the duality gap.

2026-07-14 17:24:08 -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

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -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_errmem_test.cc

Introduce new logging API, fixes #858

2026-06-11 14:36:57 -07:00

engine_util_misc_test.cc

Change mju_round to use standard round() function.

2026-07-05 10:48:13 -07:00

engine_util_solve_test.cc

Add fixed-size 6x6 dense LU factorization with benchmark.

2026-07-14 08:38:19 -07:00

engine_util_sparse_test.cc

Fix engine_util_sparse_test on MSVC

2026-07-10 18:28:23 -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

Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

2026-06-22 04:19:01 -07:00