Mujoco_WASM

.clang-format

Disable clang-format for MuJoCo public headers and engine source.

2026-03-20 05:06:15 -07:00

CMakeLists.txt

Extract AVX code from engine_util_blas.c into engine_util_blas_avx.h

2026-05-06 05:25:53 -07:00

engine_array_safety.h

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engine_callback.c

Fix typos.

2025-01-16 06:28:54 -08:00

engine_callback.h

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engine_collision_box.c

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_collision_convex.c

Enable multiccd by default.

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

engine_collision_convex.h

Remove model and data from ccd object. Each geom gets a copy of pos and mat, which is editable without modifying mjData.

2026-03-23 04:51:53 -07:00

engine_collision_driver.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_collision_driver.h

Add mj_maxContact API function.

2026-04-21 04:03:22 -07:00

engine_collision_gjk.c

Remove thread_local EPA data in favor of using mjData stack.

2026-04-15 09:19:57 -07:00

engine_collision_gjk.h

Remove thread_local EPA data in favor of using mjData stack.

2026-04-15 09:19:57 -07:00

engine_collision_primitive.c

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_collision_primitive.h

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_collision_sdf.c

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_collision_sdf.h

Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.

2026-03-13 10:21:53 -07:00

engine_core_constraint.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_core_constraint.h

Add Jdot correction for connect and weld constaints

2026-04-13 12:48:03 -07:00

engine_core_smooth.c

Clean-up flex assumptions.

2026-04-22 08:01:34 -07:00

engine_core_smooth.h

Optimize mj_tendonBias by computing Jdot * qvel directly

2026-04-10 04:57:55 -07:00

engine_core_util.c

Optimize flex by pinning nodes in empty cells.

2026-04-20 04:41:17 -07:00

engine_core_util.h

Optimize flex by pinning nodes in empty cells.

2026-04-20 04:41:17 -07:00

engine_crossplatform.cc

Fix false positives from mjData stack leakage detection.

2024-02-22 08:03:51 -08:00

engine_crossplatform.h

Make preprocessor checks for ADDRESS_SANITIZER compatible with GCC

2026-03-16 09:03:52 -07:00

engine_derivative_fd.c

Add actuator and sensor delays. Fixes #1004

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

engine_derivative_fd.h

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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 mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

2026-05-17 16:47:54 -07:00

engine_forward.h

Implement midpoint integrator for free bodies.

2026-04-13 10:58:49 -07:00

engine_global_table.h

Refactor global object tables logic.

2024-02-09 06:50:06 -08:00

engine_init.c

Add sleep related data structures

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

engine_init.h

Break out struct initialization functions into engine_init.c.

2025-09-25 19:22:27 -07:00

engine_inline.h

Improve AABB bounds in makeAAMM.

2026-04-16 03:25:18 -07:00

engine_inverse.c

Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

2026-05-17 16:47:54 -07:00

engine_inverse.h

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engine_io.c

Move square root of Delassus matrix from stack to arena

2026-05-17 11:21:55 -07:00

engine_io.h

Add flex_bendingadr to mjModel.

2026-05-02 00:13:39 -07:00

engine_island.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_island.h

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engine_macro.h

Clean up includes in src/engine

2025-09-16 09:36:44 -07:00

engine_memory.c

Improve ASAN poisoning logic in mj_freeStack.

2026-03-17 08:26:39 -07:00

engine_memory.h

Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

2026-05-17 16:47:54 -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

Add bounds check for cached node indices in passive mesh.

2026-05-15 08:50:49 -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

Move square root of Delassus matrix from stack to arena

2026-05-17 11:21:55 -07:00

engine_print.h

Functions for printing the contents of mjvScene.

2025-09-29 02:47:17 -07:00

engine_ray.c

Breaking change: Add surface normal output to MuJoCo raycast functions.

2026-01-13 10:22:21 -08:00

engine_ray.h

Breaking change: Add surface normal output to MuJoCo raycast functions.

2026-01-13 10:22:21 -08:00

engine_sensor.c

Fix insidesite sensor for massless flex parent bodies.

2026-05-01 08:27:04 -07:00

engine_sensor.h

Add actuator and sensor delays. Fixes #1004

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

engine_setconst.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_setconst.h

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engine_sleep.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_sleep.h

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_solver.c

Make PGS solver constraint visitation order time-independent.

2026-05-13 02:34:30 -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

Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

2026-05-17 16:47:54 -07:00

engine_support.h

Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.

2026-03-11 04:55:44 -07:00

engine_util_blas_avx.h

Extract AVX code from engine_util_blas.c into engine_util_blas_avx.h

2026-05-06 05:25:53 -07:00

engine_util_blas.c

Extract AVX code from engine_util_blas.c into engine_util_blas_avx.h

2026-05-06 05:25:53 -07:00

engine_util_blas.h

Refactor hfield-convex collision code. This should be a no-op.

2025-11-26 03:26:56 -08:00

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

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engine_util_errmem.c

Merge pull request #3084 from Ashutosh0x:fix/mingw-stat-localtime

2026-03-09 09:54:10 -07:00

engine_util_errmem.h

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engine_util_misc.c

Implement bending forces for interpolated flex shells.

2026-05-05 10:33:18 -07:00

engine_util_misc.h

Implement bending forces for interpolated flex shells.

2026-05-05 10:33:18 -07:00

engine_util_solve.c

Merge pull request #3276 from dparikh79:fix/3275-boxqp-symmetric-lower-matvec

2026-05-18 09:36:01 -07:00

engine_util_solve.h

Add dense LU factorization and solve functions.

2026-05-02 13:27:04 -07:00

engine_util_sparse_avx.h

Clean up includes in src/engine

2025-09-16 09:36:44 -07:00

engine_util_sparse.c

Add mju_sym2dense, document future breakage of mj_fullM

2026-05-04 14:25:53 -07:00

engine_util_sparse.h

Add mju_sym2dense, document future breakage of mj_fullM

2026-05-04 14:25:53 -07:00

engine_util_spatial.c

Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.

2025-12-12 04:49:29 -08:00

engine_util_spatial.h

Update function signatures in engine_util_spatial.h to appease fussy GCC

2025-12-12 10:47:31 -08:00

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

Clean-up flex assumptions.

2026-04-22 08:01:34 -07:00

engine_vis_interact.h

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engine_vis_visualize.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_vis_visualize.h

Make mjv_cameraFrame and mjv_cameraFrustum public.

2025-11-14 00:03:18 -08:00