Yuval Tassa 7f74487a26 Fix implicit integrator derivatives for actearly actuators. ...

The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.

PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b

2026-02-11 04:03:46 -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

Reduce simulation steps in MjCollisionTest.PinchingSucceeds.

2026-02-10 11:05:10 -08:00

engine_collision_gjk_test.cc

Clean up NativeCCD testing models.

2025-11-10 21:31:02 -08:00

engine_collision_sdf_test.cc

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

2025-08-16 08:11:49 -07:00

engine_core_constraint_test.cc

Add vertex equality option.

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

engine_core_smooth_test.cc

Add vertex equality option.

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

engine_derivative_test.cc

Fix implicit integrator derivatives for actearly actuators.

2026-02-11 04:03:46 -08:00

engine_forward_test.cc

Fix flex-parent coupling in implicit integrator.

2026-02-10 05:35:48 -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

Make constraint island discovery on by default.

2025-08-26 04:27:24 -07:00

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

Move tactile sensor to the engine.

2025-07-30 05:27:44 -07:00

engine_print_test.cc

Disable MSAN poisoning when printing using engine_print.

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

engine_ray_test.cc

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

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

engine_sensor_test.cc

Add actuator and sensor delays. Fixes #1004

2026-02-06 08:47:36 -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

Add a test for equivalence of different solvers.

2025-12-17 08:21:52 -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

Make constraint island discovery on by default.

2025-08-26 04:27:24 -07:00

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