Copybara-Service e144090273 Merge pull request #3466 from smallquail:flex-implicit-contact ...

PiperOrigin-RevId: 960804180
Change-Id: Ic3eb203ca0d9cf19c9043b46127db342678d94f9

2026-08-07 02:36:26 -07:00

..

testdata

Implement mesh extrema in a 3x3x3 grid corresponding to each feature of a unit cube. These are used as seeds for a better initial point in mesh hill climbing with up to a 2x speedup in mjc_Convex.

2026-08-05 07:22:48 -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

Fix missing contacts for deeply penetrating boxes.

2026-08-02 01:34:59 -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

Check if geoms are separated in GJK after an early exit. Fix #3383.

2026-08-06 08:27:05 -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

Fix test breakage under float32

2026-08-04 15:04:09 -07:00

engine_core_smooth_test.cc

Add the pid actuator: setpoint inputs, integral action, slew rate limiting.

2026-08-01 04:28:43 -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

Integrate passive flex contact implicitly

2026-08-06 15:38:05 +01:00

engine_forward_test.cc

Merge pull request #3466 from smallquail:flex-implicit-contact

2026-08-07 02:36:26 -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Remove midpoint integration, superseded by free-body gyroscopic derivatives.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

Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

2026-07-21 13:09:23 -07:00

engine_island_test.cc

Merge pull request #3396 from teerthsharma:topo/linear-island-scratch

2026-07-20 16:16:35 -07:00

engine_passive_test.cc

Fix flex bending frame transformation when parent body is rotated.

2026-08-03 07:28:52 -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

Table-driven attribute writing: rebase the writer on the shared rows.

2026-08-03 02:27:22 -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

Generate the MJCF grammar table and enforce its constraints.

2026-08-02 16:30:02 -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

Mocap bodies are the weld root of their own kinematic subtree.

2026-08-06 04:10:34 -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

Adjust rotEPS for single precision in mju_mat2Rot.

2026-08-04 09:38:28 -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