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Mujoco_WASM/src/engine
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Alessio Quaglino e933081ff1 Optimize flexvert Jacobian computation. 
The dense Jacobian arrays `J0_dense` and `J1_dense` are now zeroed only once before the vertex loop. Inside the loop, only the entries that were actually used are zeroed out after being added to the sparse Jacobian, allowing for efficient reuse of the dense arrays across all vertices.

PiperOrigin-RevId: 860799056
Change-Id: Ia61daae5eeb2f4dbc0c5d8c0064622a881e92b7a
2026-01-25 05:22:44 -08:00
..
CMakeLists.txt
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_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
Fix aliasing violations in engine_collision_box.c
2025-12-12 05:35:42 -08:00
engine_collision_convex.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_collision_convex.h
Refactor hfield-convex collision code. This should be a no-op.
2025-11-26 03:26:56 -08:00
engine_collision_driver.c
Restructure AAMM storage for improved cache locality in broadphase, ~35% speedup (of broadphase).
2025-11-11 11:46:08 -08:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_gjk.c
Refactor epaWitness.
2025-11-25 03:44:57 -08:00
engine_collision_gjk.h
Replace mjMAXVAL with numerical max limit where necessary in nativeccd.
2025-04-07 05:59:02 -07:00
engine_collision_primitive.c
Fix aliasing issues in engine_collision_primitive.c
2025-12-12 06:36:34 -08:00
engine_collision_primitive.h
Circumvent bug in mjc_BoxBox.
2023-12-08 10:39:27 -08:00
engine_collision_sdf.c
Breaking change: Add surface normal output to MuJoCo raycast functions.
2026-01-13 10:22:21 -08:00
engine_collision_sdf.h
Add SDF functions to public API.
2025-05-12 10:53:39 -07:00
engine_core_constraint.c
Add vertex equality option.
2026-01-23 16:30:05 -08:00
engine_core_constraint.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_core_smooth.c
Optimize flexvert Jacobian computation.
2026-01-25 05:22:44 -08:00
engine_core_smooth.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_core_util.c
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
2026-01-14 11:18:41 -08:00
engine_core_util.h
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
2026-01-14 11:18:41 -08:00
engine_crossplatform.cc
Fix false positives from mjData stack leakage detection.
2024-02-22 08:03:51 -08:00
engine_crossplatform.h
mjQUICKSORT uses std::sort with C++.
2024-08-08 10:24:34 -07:00
engine_derivative_fd.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_derivative_fd.h
Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
2023-04-28 09:04:41 -07:00
engine_derivative.c
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
2026-01-14 11:18:41 -08:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
2026-01-14 11:18:41 -08:00
engine_forward.h
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
2025-12-01 07:39:00 -08:00
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
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_inverse.c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Add vertex equality option.
2026-01-23 16:30:05 -08:00
engine_io.h
Migrate mjModel size fields from int to mjtSize.
2026-01-23 09:41:49 -08:00
engine_island.c
Add vertex equality option.
2026-01-23 16:30:05 -08:00
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
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
2025-10-01 07:58:17 -07:00
engine_memory.h
Reset contact efc_address in mj_clearEfc, fixes #2869
2025-10-13 06:18:41 -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
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
2026-01-14 11:18:41 -08:00
engine_passive.h
Break out passive force functions into a new file engine_passive.c
2023-03-03 08:32:16 -08:00
engine_plugin.cc
Remove getdir from mjpResourceProvider.
2026-01-12 04:07:42 -08:00
engine_plugin.h
Create mjpDecoder, mj_parse, and mju_decodeResource
2025-10-30 12:54:40 -07:00
engine_print.c
Migrate mjModel size fields from int to mjtSize.
2026-01-23 09:41:49 -08:00
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
Breaking change: Add surface normal output to MuJoCo raycast functions.
2026-01-13 10:22:21 -08:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Align flex_vert0 to the XY plane during model initialization if dim=2.
2026-01-24 00:50:01 -08:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_sleep.c
Add vertex equality option.
2026-01-23 16:30:05 -08:00
engine_sleep.h
Improve logic and documentation for sleeping sensors
2025-11-11 06:45:56 -08:00
engine_solver.c
Use the word "primal" for things that relate to both Newton and CG.
2026-01-05 23:56:57 -08:00
engine_solver.h
Add island support to Newton solver
2025-05-14 04:20:34 -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
Migrate mjModel size fields from int to mjtSize.
2026-01-23 09:41:49 -08:00
engine_support.h
Add additional data fields that can be reported by rangefinder sensors.
2025-12-23 15:33:00 -08:00
engine_util_blas.c
Add private function mju_fillInt
2025-12-16 05:16:50 -08:00
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
Handle initial_capacity = 0 in mju_arrayListCreate.
2023-08-22 04:04:02 -07:00
engine_util_errmem.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_errmem.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_util_misc.c
Extend rangefinder sensor to support cameras.
2025-12-23 12:04:49 -08:00
engine_util_misc.h
Extend rangefinder sensor to support cameras.
2025-12-23 12:04:49 -08:00
engine_util_solve.c
Improve bounds checking in engine_util_solve.c.
2026-01-08 02:44:38 -08:00
engine_util_solve.h
Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup.
2025-12-19 08:57:45 -08:00
engine_util_sparse_avx.h
Clean up includes in src/engine
2025-09-16 09:36:44 -07:00
engine_util_sparse.c
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
engine_util_sparse.h
Implement sleeping in engine
2025-11-07 03:33:07 -08:00
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
Breaking change: Add surface normal output to MuJoCo raycast functions.
2026-01-13 10:22:21 -08:00
engine_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_visualize.c
Fix body category check for mocap body descendants in visualization.
2026-01-14 06:06:55 -08:00
engine_vis_visualize.h
Make mjv_cameraFrame and mjv_cameraFrustum public.
2025-11-14 00:03:18 -08:00