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Added a collision midphase on geom pairs using rotated AABBs static trees.

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PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
This commit is contained in:
Alessio Quaglino
2023-03-17 02:36:38 -07:00
committed by Copybara-Service
parent 47b58f5ccb
commit 70959c1a2c
30 changed files with 2228 additions and 73 deletions
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doc/XMLreference.rst
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@@ -705,6 +705,12 @@ from its default.
function. If a new contact is detected it is added, allowing for up to 4 additional contact points. This feature is
currently considered experimental, and both the behavior and the way it is activated may change in the future.
.. _option-flag-midphase:
:at:`midphase`: :at-val:`[disable, enable], "enable"`
This flag disables the mid-phase collision filtering using a static AABB bounding volume hierarchy (a BVH binary
tree). If disabled, all geoms pairs that are allowed to collide are checked for collisions.
.. _size: