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

PiperOrigin-RevId: 632458301 Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:51:46 -07:00
parent 31de1dad9d
commit 02d015458c
29 changed files with 1002 additions and 66 deletions
@@ -189,6 +189,10 @@ MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,

 //-------------------------- miscellaneous ---------------------------------------------------------

+// returns the smallest distance between two geoms
+MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
+                             mjtNum distmax, mjtNum fromto[6]);
+
 // extract 6D force:torque for one contact, in contact frame
 MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);