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Improve box-box multicontact with nativeccd.

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PiperOrigin-RevId: 728136635
Change-Id: I2343110e5c87b6621d5750c7ad42f0e75081d737
This commit is contained in:
Kyle Bayes
2025-02-18 03:40:03 -08:00
committed by Copybara-Service
parent fb84ee4e17
commit 442b968e22
2 changed files with 40 additions and 64 deletions
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src/engine/engine_collision_convex.c
+8 -1
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@@ -311,11 +311,18 @@ static void mjc_boxSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
mjtNum local_dir[3], tmp[3];
mulMatTVec3(local_dir, mat, dir);
// find support point in local frame
tmp[0] = (local_dir[0] >= 0 ? 1 : -1) * size[0];
tmp[1] = (local_dir[1] >= 0 ? 1 : -1) * size[1];
tmp[2] = (local_dir[2] >= 0 ? 1 : -1) * size[2];
// transform result to global frame
// mark the index of the corner of the box for fast lookup
obj->vertindex = 0;
if (tmp[0] > 0) obj->vertindex |= 1;
if (tmp[1] > 0) obj->vertindex |= 2;
if (tmp[2] > 0) obj->vertindex |= 4;
// transform support point to global frame
localToGlobal(res, mat, tmp, pos);
}