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Refactor mj_collideGeoms.

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PiperOrigin-RevId: 878091736
Change-Id: I738c2e5a21036d859b7b163cb000dc516b63a878
This commit is contained in:
Kyle Bayes
2026-03-03 13:10:21 -08:00
committed by Copybara-Service
parent 91d3565cd5
commit 490c1f4126
4 changed files with 98 additions and 113 deletions
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src/engine/engine_collision_driver.h
+1 -1
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@@ -50,7 +50,7 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair);
// test two geoms for collision, apply filters, add to contact list
void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2);
void mj_collideGeoms(const mjModel* m, mjData* d, int ipair, int g1, int g2);
// test a plane geom and a flex for collision, add to contact list
void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f);