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Remove contact pruning with box-box collisions in nativeccd and add benchmarks.

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PiperOrigin-RevId: 744732382
Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
This commit is contained in:
Kyle Bayes
2025-04-07 08:32:58 -07:00
committed by Copybara-Service
parent d7027fb1c0
commit 606f00f802
5 changed files with 48 additions and 31 deletions
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src/engine/engine_collision_convex.h
+6 -6
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@@ -81,12 +81,12 @@ void mjc_pointSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
void mjc_lineSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
// 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,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_Convex (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
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,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI 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,