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Add heightfield collision support for GJK + EPA implementation.

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PiperOrigin-RevId: 663321119
Change-Id: I01a85ae15386c997bff4e9c6d71555a4380dfffe
This commit is contained in:
Kyle Bayes
2024-08-15 08:48:50 -07:00
committed by Copybara-Service
parent 4b88e9bebf
commit 64575f399b
4 changed files with 110 additions and 68 deletions
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src/engine/engine_collision_gjk.c
+6 -6
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@@ -203,8 +203,8 @@ static void gjk_support(mjtNum s1[3], mjtNum s2[3], mjCCDObj* obj1, mjCCDObj* ob
mju_scl3(dir, dir_neg, -1);
// compute S_{A-B}(dir) = S_A(dir) - S_B(-dir)
mjc_support(s1, obj1, dir);
mjc_support(s2, obj2, dir_neg);
obj1->support(s1, obj1, dir);
obj2->support(s2, obj2, dir_neg);
}
@@ -218,8 +218,8 @@ static void support(mjtNum s1[3], mjtNum s2[3], mjCCDObj* obj1, mjCCDObj* obj2,
mju_scl3(dir_neg, dir, -1);
// compute S_{A-B}(dir) = S_A(dir) - S_B(-dir)
mjc_support(s1, obj1, dir);
mjc_support(s2, obj2, dir_neg);
obj1->support(s1, obj1, dir);
obj2->support(s2, obj2, dir_neg);
}
@@ -1007,8 +1007,8 @@ int mj_gjkPenetration(const void *obj1, const void *obj2, const ccd_t *ccd,
mjCCDObj* o2 = (mjCCDObj*) obj2;
nearest.n[1] = 34;
mjc_center(o1->x0, o1);
mjc_center(o2->x0, o2);
o1->center(o1->x0, o1);
o2->center(o2->x0, o2);
config.max_iterations = ccd->max_iterations;
config.tolerance = ccd->mpr_tolerance;