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
@@ -40,7 +40,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjDSBL_ACTUATION', 1024),
             ('mjDSBL_REFSAFE', 2048),
             ('mjDSBL_SENSOR', 4096),
-             ('mjNDISABLE', 13),
+             ('mjDSBL_MIDPHASE', 8192),
+             ('mjNDISABLE', 14),
         ]),
     )),
    ('mjtEnableBit',
@@ -521,7 +522,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjVIS_SELECT', 20),
             ('mjVIS_STATIC', 21),
             ('mjVIS_SKIN', 22),
-             ('mjNVISFLAG', 23),
+             ('mjVIS_MIDPHASE', 23),
+             ('mjNVISFLAG', 24),
         ]),
     )),
    ('mjtRndFlag',