Alessio Quaglino bf74d01d93 Add collisions between flexes and SDF geoms. ...

The flex-SDF algorithm uses the same logic as mesh-SDF. Previous to this change, the flex was instead colliding with the convex hull of the mesh generated automatically with marching cubes from the SDF.

PiperOrigin-RevId: 876420302
Change-Id: I3bf6552b6b8e108ba4c4209bbcf10fe5f2b2fd90

2026-02-27 14:35:27 -08:00

..

testdata

Fix body category check for mocap body descendants in visualization.

2026-01-14 06:06:55 -08:00

CMakeLists.txt

Add mj_raySdfNormal (not exposed in public header)

2025-12-09 04:43:39 -08:00

engine_collision_box_test.cc

Fix box-box distance computation.

2025-11-07 07:37:03 -08:00

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

Improve polygon creation logic in compiler.

2026-02-25 03:40:07 -08:00

engine_collision_sdf_test.cc

Add collisions between flexes and SDF geoms.

2026-02-27 14:35:27 -08:00

engine_core_constraint_test.cc

Add vertex equality option.

2026-01-23 16:30:05 -08:00

engine_core_smooth_test.cc

Move tendon sparsity fields from mjData to mjModel

2026-02-25 04:32:11 -08:00

engine_derivative_test.cc

Fix implicit integrator derivatives when actuator force is clamped.

2026-02-11 13:31:07 -08:00

engine_forward_test.cc

Fix: Include ancestor DOFs in flex interpolation factorization.

2026-02-20 05:30:54 -08:00

engine_inverse_test.cc

Add error reporting to model loading in engine tests, where missing

2025-08-16 08:11:49 -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

Fix gravcomp being ignored for movable bodies without joints. Fixes #3066

2026-02-09 10:55:07 -08:00

engine_plugin_test.cc

Remove PluginTest and make MujocoTest load plugins.

2026-02-23 12:15:22 -08:00

engine_print_test.cc

Disable MSAN poisoning when printing using engine_print.

2022-06-20 08:57:54 -07:00

engine_ray_test.cc

Remove PluginTest and make MujocoTest load plugins.

2026-02-23 12:15:22 -08:00

engine_sensor_test.cc

Fix mj_sensorAcc returning zero after mj_step1 by clearing flg_rnepost in mj_step2.

2026-02-25 14:04:33 -08:00

engine_setconst_test.cc

Add sleep related data structures

2025-11-06 12:10:55 -08:00

engine_sleep_test.cc

Fix bug related to sleeping static children of mocap bodies.

2025-11-12 07:20:03 -08:00

engine_solver_test.cc

Replace margin/gap max with sum.

2026-02-11 14:22:27 -08:00

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

Add actuator and sensor delays. Fixes #1004

2026-02-06 08:47:36 -08:00

engine_thread_test.cc

Sparse ten_J and ten_J_colind

2026-02-13 06:57:22 -08:00

engine_util_blas_test.cc

Add tests for mju_normalize4.

2024-07-01 10:58:35 -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

Rename "delay" buffer functions to "history" buffers.

2026-02-07 14:10:16 -08:00

engine_util_solve_test.cc

Refactor sparse Cholesky factorization into symbolic and numeric phases.

2025-12-19 06:11:55 -08:00

engine_util_sparse_test.cc

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

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

engine_util_spatial_test.cc

Add mju_mat2Rot.

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

engine_vis_visualize_test.cc

Store the status of the scene in the scene itself.

2025-09-30 00:06:00 -07:00