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Add Flex component.

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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
2023-10-12 10:15:46 +01:00
committed by Saran Tunyasuvunakool
parent 649a474788
commit 5a70ad08ab
82 changed files with 9658 additions and 1581 deletions
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src/engine/engine_collision_convex.h
+11 -1
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@@ -44,6 +44,9 @@ struct _mjtCCD {
const mjData* data;
int geom;
int meshindex;
int flex;
int elem;
int vert;
mjtNum margin;
mjtNum rotate[4];
};
@@ -54,7 +57,7 @@ typedef struct _mjtCCD mjtCCD;
void mjccd_support(const void *obj, const ccd_vec3_t *dir, ccd_vec3_t *vec);
// pairwise collision functions using ccd
// pairwise geom collision functions using ccd
int mjc_PlaneConvex (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_ConvexHField (const mjModel* m, const mjData* d,
@@ -62,6 +65,13 @@ int mjc_ConvexHField (const mjModel* m, const mjData* d,
int mjc_Convex (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
// geom-elem or elem-elem or vert-elem collision function using ccd
int mjc_ConvexElem (const mjModel* m, const mjData* d, mjContact* con,
int g1, int f1, int e1, int v1, int f2, int e2, mjtNum margin);
// heighfield-elem collision function using ccd
int mjc_HFieldElem (const mjModel* m, const mjData* d, mjContact* con,
int g, int f, int e, mjtNum margin);
// fix contact frame normal
void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2);