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Update Solid and Shell plugins to use FlexComp.

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PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
This commit is contained in:
Alessio Quaglino
2023-10-16 03:02:14 -07:00
committed by Copybara-Service
parent 93d1c3c92e
commit 110ade1435
26 changed files with 1988 additions and 177 deletions
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src/engine/engine_collision_driver.c
+6
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@@ -1814,6 +1814,8 @@ void mj_collideFlexSAP(const mjModel* m, mjData* d, int f) {
// test a geom and an elem for collision, add to contact list
void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
TM_START;
mjtNum margin = mj_assignMargin(m, mju_max(m->geom_margin[g], m->flex_margin[f]));
int dim = m->flex_dim[f], type = m->geom_type[g];
int num;
@@ -1927,6 +1929,9 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
// move arena pointer back to the end of the contact array
resetArena(d);
// add duration without incrementing counter
TM_ADD(mjTIMER_COL_NARROW);
}
@@ -1934,6 +1939,7 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
// test two elems for collision, add to contact list
void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2) {
TM_START;
mjtNum margin = mj_assignMargin(m, mju_max(m->flex_margin[f1], m->flex_margin[f2]));
int dim1 = m->flex_dim[f1], dim2 = m->flex_dim[f2];
int num;