Restore mesh-SDF collisions.

This CL rolls back the change from changelist 794576123 since the previous version was more robust and stable. Compared to the original algorithm, this changes handles degenerate and very large triangles as well. BEGIN_PUBLIC Restore mesh-SDF collisions. END_PUBIC PiperOrigin-RevId: 875716983 Change-Id: If0de41dc7bbd60460779821d2338cf2d661f40d5
2026-02-26 07:39:06 -08:00
parent 0ec836b281
commit 47a750d4a6
2 changed files with 311 additions and 37 deletions
@@ -8,7 +8,8 @@
    </plugin>
  </extension>

-  <option gravity="0 0 -9.81" sdf_iterations="3" sdf_initpoints="10"/>
+  <!-- number of starting points per face, faces are larger than the torus -->
+  <option sdf_initpoints="10"/>
  <asset>
    <mesh name="torus">
      <plugin instance="torus"/>