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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_primitive.h
+15 -1
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@@ -32,6 +32,20 @@
extern "C" {
#endif
// raw collision functions (called by mjc_XXX)
int mjraw_SphereCapsule (mjContact* con, mjtNum margin,
const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
int mjraw_CapsuleCapsule(mjContact* con, mjtNum margin,
const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
int mjraw_CapsuleBox (mjContact* con, mjtNum margin,
const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
int mjraw_SphereTriangle(mjContact* con, mjtNum margin,
const mjtNum* s, mjtNum rs,
const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
// plane collisions
int mjc_PlaneSphere (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
@@ -52,7 +66,7 @@ int mjc_SphereCylinder (const mjModel* m, const mjData* d,
int mjc_CapsuleCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
// box collisions: from boxcollisions.c
// box collisions: from engine_collision_box.c
int mjc_CapsuleBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_SphereBox (const mjModel* m, const mjData* d,