Kyle Bayes d360ea1ce6 Minor GJK + EPA improvements: ...

1. Correct stopping criteria for GJK.
2. Store witness points from EPA in mjCCDObj,
3. Get dir directly from EPA instead of computing dir from witness points.

PiperOrigin-RevId: 666791852
Change-Id: I6a168f635b57c17692d31da6f6076b48c32ff2e3

2024-08-23 07:44:30 -07:00

..

testdata

Add test models for tendon wrapping.

2024-07-29 08:24:37 -07:00

CMakeLists.txt

mjQUICKSORT uses std::sort with C++.

2024-08-08 10:24:34 -07:00

engine_collision_box_test.cc

Fix bug introduced in 7942fe957e

2023-12-14 13:30:38 -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

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_collision_gjk_test.cc

Minor GJK + EPA improvements:

2024-08-23 07:44:30 -07:00

engine_collision_sdf_test.cc

Add Signed Distance Field to collision geometries.

2023-08-16 09:15:23 -07:00

engine_core_constraint_test.cc

Improve documentation of solver parameters.

2024-01-04 09:17:31 -08:00

engine_core_smooth_test.cc

Fix bug in Cartesian actuation with movable refsite.

2023-11-20 08:37:29 -08:00

engine_derivative_test.cc

Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed.

2024-08-16 04:07:23 -07:00

engine_forward_test.cc

Don't normalize mocap quaternions in-place.

2024-07-01 09:29:50 -07:00

engine_inverse_test.cc

PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1.

2023-09-11 11:09:53 -07:00

engine_io_test.cc

Reduce VeryLargeMemory test memory allocation in engine_io_test.cc

2024-06-05 06:27:01 -07:00

engine_island_test.cc

Multithread parallelizable operations in mj_fwdPosition

2023-10-11 08:01:53 -07:00

engine_passive_test.cc

Break out passive force functions into a new file engine_passive.c

2023-03-03 08:32:16 -08:00

engine_plugin_test.cc

Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes.

2024-07-09 09:08:48 -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

Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.

2024-06-16 10:02:36 -07:00

engine_sensor_test.cc

Don't normalize mjData->qpos quaternions in-place.

2024-06-29 03:07:10 -07:00

engine_solver_test.cc

Accelerate inertia computation for simple bodies.

2023-10-06 12:51:14 -07:00

engine_sort_test.cc

Fix engine_sort_test compile error.

2024-08-08 14:11:35 -07:00

engine_support_test.cc

Fix a couple of mjtNum build errors.

2024-06-20 07:31:28 -07:00

engine_thread_test.cc

Add missing models to all_models and all_test_models.

2023-10-18 08:59:54 -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

Remove mjMARKSTACK and mjFREESTACK macros.

2023-09-05 11:41:43 -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

Re-implement VFS internals in C++, removing the constraints of the previous implementation.

2024-07-04 09:22:23 -07:00

engine_util_solve_test.cc

Fix a build error in engine_util_solve_test.cc.

2024-08-05 13:47:28 -07:00

engine_util_sparse_test.cc

Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.

2023-09-01 07:40:16 -07:00

engine_util_spatial_test.cc

Fix a couple of mjtNum build errors.

2024-06-20 07:31:28 -07:00

engine_vis_state_test.cc

Fix a few issues with the passive viewer.

2023-12-18 07:33:19 -08:00