Alessio Quaglino e97e5d31d0 Replace box SDF with a smooth approximation. ...

This approximation is equivalent to the exact SDF on the surface and externally, but it is smooth on the inside, rotating the gradient from radial at the box center to normal to the faces at the surface, and interpolated linearly (using two Euler angles) in between. This enables stable contact gradients for deeper penetrations.

PiperOrigin-RevId: 776574022
Change-Id: I562976e9f0535b0067aa12b2bc9d48eccb6472e9

2025-06-27 07:21:30 -07:00

..

benchmark

Remove the Shell plugin and integrate it into the engine.

2025-05-19 10:51:25 -07:00

engine

Replace box SDF with a smooth approximation.

2025-06-27 07:21:30 -07:00

experimental

Apply articulation API to the correct body when converting to USD.

2025-06-26 11:07:11 -07:00

plugin

Remove the Shell plugin and integrate it into the engine.

2025-05-19 10:51:25 -07:00

sample

Stop over-allocating memory in Newton solver.

2024-10-11 05:09:33 -07:00

testdata

Fix bug in inverse dynamics when tendon armature is present.

2025-06-20 02:25:04 -07:00

thread

Reduce cmake test boilerplate

2024-12-07 17:14:20 +01:00

user

Report which body has too-small mass/inertia in compilation error.

2025-06-26 10:40:40 -07:00

xml

Do not write nameless frames whose class is "main".

2025-06-10 10:15:43 -07:00

CMakeLists.txt

Add CMakeLists for usdMjcf file format plugin.

2025-05-02 05:48:33 -07:00

fixture_test.cc

Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.

2024-02-19 05:40:31 -08:00

fixture.cc

Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.

2025-05-30 17:17:14 -07:00

fixture.h

Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.

2025-05-30 17:17:14 -07:00

header_test.cc

Runtime disabling of actuators according to group.

2023-10-31 16:24:38 -07:00

pipeline_test.cc

Improve warmstarting if island structure exists.

2025-04-29 15:18:14 -07:00