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
@@ -120,6 +120,7 @@ typedef enum mjtVisFlag_ {        // flags enabling model element visualization
  mjVIS_SELECT,                   // selection point
  mjVIS_STATIC,                   // static bodies
  mjVIS_SKIN,                     // skin
+  mjVIS_MIDPHASE,                 // mid-phase bounding volume hierarchy

  mjNVISFLAG                      // number of visualization flags
 } mjtVisFlag;