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

PiperOrigin-RevId: 517357695 Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
2023-03-17 02:36:38 -07:00
parent 47b58f5ccb
commit 70959c1a2c
30 changed files with 2228 additions and 73 deletions
@@ -246,6 +246,9 @@ struct mjData_ {
  mjtNum* qLDiagInv;         // 1/diag(D)                                        (nv x 1)
  mjtNum* qLDiagSqrtInv;     // 1/sqrt(diag(D))                                  (nv x 1)

+  // computed by mj_collisionTree
+  mjtByte* bvh_active;       // volume has been added to collisions              (nbvh x 1)
+
  //-------------------------------- POSITION, VELOCITY dependent

  // computed by mj_fwdVelocity