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Refactor nativeccd interface.

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- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).

PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
This commit is contained in:
Kyle Bayes
2024-11-13 10:27:54 -08:00
committed by Copybara-Service
parent c68ee8055e
commit 0e8cca93e1
6 changed files with 162 additions and 109 deletions
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src/engine/engine_collision_convex.h
+1 -1
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@@ -85,7 +85,7 @@ int mjc_Convex (const mjModel* m, const mjData* d,
int mjc_ConvexElem (const mjModel* m, const mjData* d, mjContact* con,
int g1, int f1, int e1, int v1, int f2, int e2, mjtNum margin);
// heighfield-elem collision function using ccd
// heightfield-elem collision function using ccd
int mjc_HFieldElem (const mjModel* m, const mjData* d, mjContact* con,
int g, int f, int e, mjtNum margin);