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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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include/mujoco/mjxmacro.h
+9
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@@ -67,6 +67,7 @@
X( nu ) \
X( na ) \
X( nbody ) \
X( nbvh ) \
X( njnt ) \
X( ngeom ) \
X( nsite ) \
@@ -176,6 +177,12 @@
X( mjtNum, body_gravcomp, nbody, 1 ) \
X( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
X( int, body_plugin, nbody, 1 ) \
X( int, body_bvhadr, nbody, 1 ) \
X( int, body_bvhnum, nbody, 1 ) \
X( int, bvh_depth, nbvh, 1 ) \
X( int, bvh_child, nbvh, 2 ) \
X( int, bvh_geomid, nbvh, 1 ) \
X( mjtNum, bvh_aabb, nbvh, 6 ) \
X( int, jnt_type, njnt, 1 ) \
X( int, jnt_qposadr, njnt, 1 ) \
X( int, jnt_dofadr, njnt, 1 ) \
@@ -216,6 +223,7 @@
X( mjtNum, geom_solref, ngeom, mjNREF ) \
X( mjtNum, geom_solimp, ngeom, mjNIMP ) \
X( mjtNum, geom_size, ngeom, 3 ) \
X( mjtNum, geom_aabb, ngeom, 6 ) \
X( mjtNum, geom_rbound, ngeom, 1 ) \
X( mjtNum, geom_pos, ngeom, 3 ) \
X( mjtNum, geom_quat, ngeom, 4 ) \
@@ -502,6 +510,7 @@
X( mjtNum, qLD, nM, 1 ) \
X( mjtNum, qLDiagInv, nv, 1 ) \
X( mjtNum, qLDiagSqrtInv, nv, 1 ) \
X( mjtByte, bvh_active, nbvh, 1 ) \
X( mjtNum, ten_velocity, ntendon, 1 ) \
X( mjtNum, actuator_velocity, nu, 1 ) \
X( mjtNum, cvel, nbody, 6 ) \