Kyle Bayes 56b88b59f0 Support 0-simplex in GJK code, and refactor code for efficiency and readability. ...

PiperOrigin-RevId: 764197889
Change-Id: Ie0d57474060a34a6b908be0386094f442cda448a

2025-05-28 04:19:13 -07:00

..

testdata

Refactor islands to be memory contiguous.

2025-05-07 05:06:27 -07:00

CMakeLists.txt

Replace mjv_sceneState and related code with mjv_copy{Model,Data}

2025-05-19 09:51:58 -07:00

engine_collision_box_test.cc

Fix bug in box-sphere collider. Fixes #2206

2024-12-04 01:19:27 -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

Support 0-simplex in GJK code, and refactor code for efficiency and readability.

2025-05-28 04:19:13 -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

Remove unused code related to legacy island implementation.

2025-05-12 15:39:16 -07:00

engine_core_smooth_test.cc

Remove unnecessary diagnum argument in mj_solveLD and mj_factorI

2025-05-14 07:13:27 -07:00

engine_derivative_test.cc

Remove unnecessary diagnum argument in mj_solveLD and mj_factorI

2025-05-14 07:13:27 -07:00

engine_forward_test.cc

Add tendon actuator force limits and tendon actuator force sensor.

2025-04-08 05:16:35 -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

Add mjv_copyData

2025-05-19 08:59:43 -07:00

engine_island_test.cc

Refactor islands to be memory contiguous.

2025-05-07 05:06:27 -07:00

engine_passive_test.cc

Add automatic free-joint alignment.

2024-09-04 10:07:33 -07:00

engine_plugin_test.cc

Remove the Shell plugin and integrate it into the engine.

2025-05-19 10:51:25 -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

Update mj_energyPos.

2025-05-12 03:14:43 -07:00

engine_solver_test.cc

Refactor islands to be memory contiguous.

2025-05-07 05:06:27 -07:00

engine_sort_test.cc

Replace mjQUICKSORT with faster, native sorting function. fixes #1638

2024-10-22 06:05:12 -07:00

engine_support_test.cc

Refactor islands to be memory contiguous.

2025-05-07 05:06:27 -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

Introduce trilinear flex parametrization.

2025-01-29 09:38:22 -08:00

engine_util_solve_test.cc

Move mju_cholFactorCount to engine_util_solve.

2025-04-10 06:56:31 -07:00

engine_util_sparse_test.cc

Speed up sparse supernode detection by combining it with transposition.

2025-05-19 10:14:15 -07:00

engine_util_spatial_test.cc

Add mju_mat2Rot.

2024-11-25 09:19:10 -08:00

engine_vis_visualize_test.cc

Add simple unit test for mjv_updateScene.

2024-12-24 06:44:02 -08:00