Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/engine/engine_collision_driver.h

@@ -0,0 +1,49 @@
+// 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_DRIVER_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// collision function pointers and max contact pairs
+MJAPI extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES];
+
+// collision detection entry point
+MJAPI void mj_collision(const mjModel* m, mjData* d);
+
+// broad phase collistion detection; return list of body pairs for narrow phase
+int mj_broadphase(const mjModel* m, mjData* d, int* bodypair, int maxpair);
+
+// test two geoms for collision, apply filters, add to contact list
+//  flg_user disables filters and uses usermargin
+void mj_collideGeoms(const mjModel* m, mjData* d,
+                     int g1, int g2, int flg_user, mjtNum usermargin);
+
+// number of possible collisions based on fitlers and geom types
+int mj_contactFilter(int type1, int contype1, int conaffinity1, int weldbody1, int weldparent1,
+                     int type2, int contype2, int conaffinity2, int weldbody2, int weldparent2,
+                     int filterparent);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_