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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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unity/Runtime/Bindings/MjBindings.cs
+9 -3
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@@ -358,9 +358,12 @@ public enum mjtSensor : int{
mjSENS_SUBTREECOM = 34,
mjSENS_SUBTREELINVEL = 35,
mjSENS_SUBTREEANGMOM = 36,
mjSENS_CLOCK = 37,
mjSENS_PLUGIN = 38,
mjSENS_USER = 39,
mjSENS_GEOMDIST = 37,
mjSENS_GEOMNORMAL = 38,
mjSENS_GEOMFROMTO = 39,
mjSENS_CLOCK = 40,
mjSENS_PLUGIN = 41,
mjSENS_USER = 42,
}
public enum mjtStage : int{
mjSTAGE_NONE = 0,
@@ -6668,6 +6671,9 @@ public static unsafe extern void mj_objectVelocity(mjModel_* m, mjData_* d, int
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_objectAcceleration(mjModel_* m, mjData_* d, int objtype, int objid, double* res, int flg_local);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mj_geomDistance(mjModel_* m, mjData_* d, int geom1, int geom2, double distmax, double* fromto);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_contactForce(mjModel_* m, mjData_* d, int id, double* result);