Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONVEX_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONVEX_H_
+
+// libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
+// TODO(stunya): Remove once https://github.com/danfis/libccd/pull/77 is merged
+#ifdef _CRT_SECURE_NO_WARNINGS
+#undef _CRT_SECURE_NO_WARNINGS
+#endif
+
+#include <ccd/vec3.h>
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// ccd general object type
+struct _mjtCCD {
+  const mjModel* model;
+  const mjData* data;
+  int geom;
+  int meshindex;
+  mjtNum margin;
+  mjtNum rotate[4];
+};
+typedef struct _mjtCCD mjtCCD;
+
+
+// ccd support function
+void mjccd_support(const void *obj, const ccd_vec3_t *dir, ccd_vec3_t *vec);
+
+
+// pairwise collision functions using ccd
+int mjc_PlaneConvex   (const mjModel* m, const mjData* d,
+                       mjContact* con, int g1, int g2, mjtNum margin);
+int mjc_ConvexHField  (const mjModel* m, const mjData* d,
+                       mjContact* con, int g1, int g2, mjtNum margin);
+int mjc_Convex        (const mjModel* m, const mjData* d,
+                       mjContact* con, int g1, int g2, mjtNum margin);
+
+
+// fix contact frame normal
+void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONVEX_H_