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Set tolerance in GJK to zero for colliding discrete geoms.

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PiperOrigin-RevId: 672326091
Change-Id: Iddec335272461c9aee13c1960640a453ff59f841
This commit is contained in:
Kyle Bayes
2024-09-08 13:48:55 -07:00
committed by Copybara-Service
parent 56bb3ca5de
commit 61721f8d3c
3 changed files with 72 additions and 32 deletions
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src/engine/engine_util_blas.h
+4 -1
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@@ -67,6 +67,9 @@ extern "C" {
// res = 0
MJAPI void mju_zero3(mjtNum res[3]);
// vec1 == vec2
MJAPI int mju_equal3(const mjtNum vec1[3], const mjtNum vec2[3]);
// res = vec
MJAPI void mju_copy3(mjtNum res[3], const mjtNum data[3]);
@@ -119,7 +122,7 @@ MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9
MJAPI void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
// multiply 3x3 matrices, first argument transposed
MJAPI void mju_mulMatTMat3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]);
MJAPI void mju_mulMatTMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
// multiply 3x3 matrices, second argument transposed
MJAPI void mju_mulMatMatT3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);