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

..

benchmark

Remove unused texture attribute in some models.

2024-07-01 15:05:02 -07:00

engine

Minor GJK + EPA improvements:

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

plugin

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

2024-07-09 09:08:48 -07:00

sample

Add convex collision test models.

2024-06-15 01:38:13 -07:00

testdata

Modify test/testdata/model.xml so the wrapping is stable. Fixes #1795

2024-07-17 05:46:04 -07:00

thread

Refactor thread pool implementation.

2023-09-11 07:20:34 -07:00

user

Add error handling to mj_recompile.

2024-08-23 07:18:28 -07:00

xml

Improve error message for fullinertia and orientation specifiers.

2024-08-09 12:20:27 -07:00

CMakeLists.txt

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_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

Use std::abs instead of mju_abs to compare integerst in fixture.cc.

2024-08-05 06:35:07 -07:00

fixture.h

Move CompareModel to fixture.

2024-03-05 02:24:32 -08:00

header_test.cc

Runtime disabling of actuators according to group.

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

pipeline_test.cc

Add island support to CG solver.

2023-09-15 05:47:24 -07:00