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Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51

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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
This commit is contained in:
Yuval Tassa
2024-05-10 04:51:46 -07:00
committed by Copybara-Service
parent 31de1dad9d
commit 02d015458c
29 changed files with 1002 additions and 66 deletions
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doc/includes/references.h
+7
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@@ -643,6 +643,11 @@ typedef enum mjtSensor_ { // type of sensor
mjSENS_SUBTREELINVEL, // 3D linear velocity of subtree
mjSENS_SUBTREEANGMOM, // 3D angular momentum of subtree
// sensors for geometric distance; attached to geoms or bodies
mjSENS_GEOMDIST, // signed distance between two geoms
mjSENS_GEOMNORMAL, // normal direction between two geoms
mjSENS_GEOMFROMTO, // segment between two geoms
// global sensors
mjSENS_CLOCK, // simulation time
@@ -2542,6 +2547,8 @@ void mj_objectVelocity(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local);
void mj_objectAcceleration(const mjModel* m, const mjData* d,
int objtype, int objid, mjtNum res[6], int flg_local);
mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
mjtNum distmax, mjtNum fromto[6]);
void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
const mjtNum* qpos1, const mjtNum* qpos2);