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Add crude broadphase impl.

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PiperOrigin-RevId: 611643683
Change-Id: Id7816dadd7e9f1b8855268b815353c61540c4e0c
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Baruch Tabanpour
2024-02-29 17:11:30 -08:00
committed by Copybara-Service
parent 8f1ea05bef
commit 419be4c605
10 changed files with 130 additions and 31 deletions
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doc/changelog.rst
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@@ -32,10 +32,11 @@ MJX
6. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
7. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
8. Added support for cameras in ``mjx.Model`` and ``mjx.Data``. Fixes :github:issue:`1422`.
9. Added an implementation of broadphase using `top_k` and bounding spheres.
Python bindings
^^^^^^^^^^^^^^^
9. Fixed incorrect data types in the bindings for the ``geom``, ``vert``, ``elem``, and ``flex`` array members
10. Fixed incorrect data types in the bindings for the ``geom``, ``vert``, ``elem``, and ``flex`` array members
of the ``mjContact`` struct, and all array members of the ``mjrContext`` struct.