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Mujoco_WASM/src/engine
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Alessio Quaglino fb6d1cf18f Support pinned flex vertices with bending 
The flexcomp compiler previously rejected pins on dim-2 flexes with
bending (elastic2d bend/both). Allow them: mj_flexPassiveBend treats a
pinned vertex (body without 3 free slide dofs) as static -- zero
velocity, and no bending force applied to it (the reaction is carried
by the pin) -- while its position still enters every neighbor's
bending force, which is exactly what the pin constrains.

PiperOrigin-RevId: 944410969
Change-Id: Ib0a69c8d5fb6f64d3e2a76af3b6b2c7be1898191
2026-07-08 04:02:31 -07:00
..
.clang-format
Disable clang-format for MuJoCo public headers and engine source.
2026-03-20 05:06:15 -07:00
CMakeLists.txt
Add new mju_threadpool API function, and delete old threading API.
2026-05-28 10:11:44 -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
Cap box<->box collisions.
2026-05-29 03:52:57 -07:00
engine_collision_convex.c
Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.
2026-06-16 08:33:09 -07:00
engine_collision_convex.h
Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.
2026-06-16 08:33:09 -07:00
engine_collision_driver.c
Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.
2026-06-16 08:33:09 -07:00
engine_collision_driver.h
Modify mjc_FlexSDF to support mjPreContact directly.
2026-06-16 07:04:16 -07:00
engine_collision_gjk.c
Remove latent bugs in GJK code.
2026-07-07 07:14:19 -07:00
engine_collision_gjk.h
Tune constants for nativeccd to perform better with single precision.
2026-06-08 07:21:17 -07:00
engine_collision_primitive.c
Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.
2026-06-16 08:33:09 -07:00
engine_collision_primitive.h
Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.
2026-06-16 08:33:09 -07:00
engine_collision_sdf.c
Modify mjc_FlexSDF to support mjPreContact directly.
2026-06-16 07:04:16 -07:00
engine_collision_sdf.h
Modify mjc_FlexSDF to support mjPreContact directly.
2026-06-16 07:04:16 -07:00
engine_core_constraint.c
Enable interior nodes for interpolated flex shell mode.
2026-05-31 10:36:01 -07:00
engine_core_constraint.h
Enable interior nodes for interpolated flex shell mode.
2026-05-31 10:36:01 -07:00
engine_core_smooth.c
Remove mjData.qM
2026-07-04 09:38:45 -07:00
engine_core_smooth.h
Remove legacy factorI/solveLD and clean up benchmarks/tests
2026-07-04 08:34:30 -07:00
engine_core_util.c
Fix rotation Jacobian offset in mj_jacSum sparse path.
2026-06-17 04:24:00 -07:00
engine_core_util.h
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_crossplatform.cc
Fix false positives from mjData stack leakage detection.
2024-02-22 08:03:51 -08:00
engine_crossplatform.h
Fix data race in mju_getLogConfigPtr lazy init
2026-07-01 11:24:36 -07:00
engine_derivative_fd.c
Migrate mjd_inverseFD mass Jacobian from qM to M
2026-07-03 15:35:52 -07:00
engine_derivative_fd.h
Migrate mjtByte to mjtBool for boolean-valued fields.
2026-05-26 05:35:49 -07:00
engine_derivative.c
Add fast path for flex derivative computation in centered flexes.
2026-05-15 10:13:22 -07:00
engine_derivative.h
Precompute rotated stiffness matrix before CG in implicit flex integrator.
2026-05-15 02:58:06 -07:00
engine_forward.c
Add threading support to PGS
2026-06-22 14:29:17 -07:00
engine_forward.h
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_global_table.h
Refactor global object tables logic.
2024-02-09 06:50:06 -08:00
engine_init.c
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_init.h
Break out struct initialization functions into engine_init.c.
2025-09-25 19:22:27 -07:00
engine_inline.h
Add runtime assertions to mji functions.
2026-06-16 08:36:32 -07:00
engine_inverse.c
Remove mjData.qM
2026-07-04 09:38:45 -07:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Remove mjData.qM
2026-07-04 09:38:45 -07:00
engine_io.h
Add flex_bendingadr to mjModel.
2026-05-02 00:13:39 -07:00
engine_island.c
Move island-specific sparse matrices from arena to stack.
2026-05-30 03:09:46 -07:00
engine_island.h
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_macro.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_memory.c
Fix GitHub Actions for threading.
2026-05-28 12:57:16 -07:00
engine_memory.h
Add new mju_threadpool API function, and delete old threading API.
2026-05-28 10:11:44 -07:00
engine_name.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -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
Support pinned flex vertices with bending
2026-07-08 04:02:31 -07:00
engine_passive.h
Implement multi-cell finite element method for interpolated flexes.
2026-04-17 04:13:19 -07:00
engine_plugin.cc
Introduce mjpEncoder plugin architecture
2026-03-25 05:35:39 -07:00
engine_plugin.h
Introduce mjpEncoder plugin architecture
2026-03-25 05:35:39 -07:00
engine_print.c
Remove mjData.qM
2026-07-04 09:38:45 -07:00
engine_print.h
Functions for printing the contents of mjvScene.
2025-09-29 02:47:17 -07:00
engine_ray.c
Migrate mjtByte to mjtBool for boolean-valued fields.
2026-05-26 05:35:49 -07:00
engine_ray.h
Migrate mjtByte to mjtBool for boolean-valued fields.
2026-05-26 05:35:49 -07:00
engine_sensor.c
simplify camera projection sensor
2026-06-23 04:17:38 -07:00
engine_sensor.h
Add actuator and sensor delays. Fixes #1004
2026-02-06 08:47:36 -08:00
engine_setconst.c
Add body/simple attribute to control simple body optimization.
2026-07-03 09:09:30 -07:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_sleep.c
Introduce new logging API, fixes #858
2026-06-11 14:36:57 -07:00
engine_sleep.h
Implement RenderableManager.
2026-07-02 00:03:05 -07:00
engine_solver.c
Refine line search convergence criteria.
2026-07-02 02:56:24 -07:00
engine_solver.h
Add per-island PGS solver dispatch.
2026-04-28 05:13:54 -07:00
engine_sort.h
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
2025-09-18 12:28:09 -07:00
engine_support.c
Update MuJoCo version to 3.10.1 following the 3.10.0 release
2026-06-22 07:25:02 -07:00
engine_support.h
Introduce new logging API, fixes #858
2026-06-11 14:36:57 -07:00
engine_thread.cc
Remove engine threading fallback.
2026-06-10 06:54:19 -07:00
engine_thread.h
Add new mju_threadpool API function, and delete old threading API.
2026-05-28 10:11:44 -07:00
engine_util_blas_avx.h
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_util_blas.c
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_util_blas.h
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_util_container.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_util_container.h
Handle initial_capacity = 0 in mju_arrayListCreate.
2023-08-22 04:04:02 -07:00
engine_util_errmem.c
Fix data race lazy-init spin lock deadlock on Windows.
2026-07-04 12:07:34 -07:00
engine_util_errmem.h
Introduce new logging API, fixes #858
2026-06-11 14:36:57 -07:00
engine_util_misc.c
Convert clip and sign operations to branchless one-liners.
2026-07-07 04:27:26 -07:00
engine_util_misc.h
Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)
2026-06-23 05:52:14 -07:00
engine_util_solve.c
Migrate mjtByte to mjtBool for boolean-valued fields.
2026-05-26 05:35:49 -07:00
engine_util_solve.h
Migrate mjtByte to mjtBool for boolean-valued fields.
2026-05-26 05:35:49 -07:00
engine_util_sparse_avx.h
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_util_sparse.c
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_util_sparse.h
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_util_spatial.c
Introduce mjPreContact, a minimal struct passed into the collision functions.
2026-05-20 10:47:46 -07:00
engine_util_spatial.h
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
engine_vis_init.c
Add flag for depth rendering.
2025-12-18 04:36:26 -08:00
engine_vis_init.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_vis_interact.c
Expose mjv_flexBodyIdAndPoint as a helper function.
2026-06-08 02:28:39 -07:00
engine_vis_interact.h
Expose mjv_flexBodyIdAndPoint as a helper function.
2026-06-08 02:28:39 -07:00
engine_vis_visualize.c
Expose function for determining if tendons should be drawn using a catenary.
2026-06-12 08:45:22 -07:00
engine_vis_visualize.h
Implement RenderableManager.
2026-07-02 00:03:05 -07:00