chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Group CCD common initialization options together.

Browse Source 
PiperOrigin-RevId: 635896664
Change-Id: Ib3135b1137484df5606a0377052c7db001b746c9
This commit is contained in:
Kyle Bayes
2024-05-21 12:45:05 -07:00
committed by Copybara-Service
parent d4afdd8583
commit 0108b7b569
1 changed files with 13 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_collision_convex.c
+13 -15
View File
@@ -269,6 +269,16 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
// initialize CCD structure
static void mjc_initCCD(ccd_t* ccd, const mjModel* m) {
CCD_INIT(ccd);
ccd->mpr_tolerance = m->opt.mpr_tolerance;
ccd->epa_tolerance = m->opt.mpr_tolerance; // use MPR tolerance for EPA
ccd->max_iterations = m->opt.mpr_iterations;
}
// find single convex-convex collision, using libccd
static int mjc_MPRIteration(mjtCCD* obj1, mjtCCD* obj2, const ccd_t* ccd,
const mjModel* m, const mjData* d,
@@ -345,17 +355,13 @@ int mjc_Convex(const mjModel* m, const mjData* d,
mjtCCD obj2 = {m, d, g2, -1, -1, -1, -1, margin, {1, 0, 0, 0}};
// init ccd structure
CCD_INIT(&ccd);
mjc_initCCD(&ccd, m);
ccd.first_dir = ccdFirstDirDefault;
ccd.center1 = mjccd_center;
ccd.center2 = mjccd_center;
ccd.support1 = mjccd_support;
ccd.support2 = mjccd_support;
// set ccd parameters
ccd.max_iterations = m->opt.mpr_iterations;
ccd.mpr_tolerance = m->opt.mpr_tolerance;
// find initial contact
int ncon = mjc_MPRIteration(&obj1, &obj2, &ccd, m, d, con, margin);
@@ -750,17 +756,13 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
//------------------------------------- collision testing
// init ccd structure
CCD_INIT(&ccd);
mjc_initCCD(&ccd, m);
ccd.first_dir = prism_firstdir;
ccd.center1 = prism_center;
ccd.center2 = mjccd_center;
ccd.support1 = prism_support;
ccd.support2 = mjccd_support;
// set ccd parameters
ccd.max_iterations = m->opt.mpr_iterations;
ccd.mpr_tolerance = m->opt.mpr_tolerance;
// geom margin needed for actual collision test
obj.margin = margin;
@@ -1096,17 +1098,13 @@ int mjc_ConvexElem(const mjModel* m, const mjData* d, mjContact* con,
mjtCCD obj2 = {m, d, -1, -1, f2, e2, -1, margin, {1, 0, 0, 0}};
// init ccd structure
CCD_INIT(&ccd);
mjc_initCCD(&ccd, m);
ccd.first_dir = ccdFirstDirDefault;
ccd.center1 = mjccd_center;
ccd.center2 = mjccd_center;
ccd.support1 = mjccd_support;
ccd.support2 = mjccd_support;
// set ccd parameters
ccd.max_iterations = m->opt.mpr_iterations;
ccd.mpr_tolerance = m->opt.mpr_tolerance;
// find contacts
int ncon = mjc_MPRIteration(&obj1, &obj2, &ccd, m, d, con, margin);