Alessio Quaglino f9a39413cf Fix: Include ancestor DOFs in flex interpolation factorization. ...

The reduced dense factorization for flex interpolation now considers all DOFs in the kinematic chain of the body containing the flex, using mj_bodyChain, instead of only the DOFs directly associated with that body. This is necessary for correctly handling pinned flexes when their parent body is part of a larger kinematic structure.

PiperOrigin-RevId: 872854468
Change-Id: Idbe9fb459084dde9e8eb1076c70dbb685c1b0bdb

2026-02-20 05:30:54 -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

Replace margin/gap max with sum.

2026-02-11 14:22:27 -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

Remove dense code path for tendon Jacobian

2026-02-19 09:53:49 -08:00

engine_derivative_test.cc

Fix implicit integrator derivatives when actuator force is clamped.

2026-02-11 13:31:07 -08:00

engine_forward_test.cc

Fix: Include ancestor DOFs in flex interpolation factorization.

2026-02-20 05:30:54 -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

Fix island graph construction for multi-tree constraints, fixes #3073

2026-02-11 10:05:32 -08:00

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

Replace margin/gap max with sum.

2026-02-11 14:22:27 -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

Sparse ten_J and ten_J_colind

2026-02-13 06:57:22 -08:00

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