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
@@ -710,6 +710,12 @@ void makerendering(mj::Simulate* sim, int oldstate) {
    defFlag[0].pdata = sim->vopt.flags + i;
    mjui_add(&sim->ui0, defFlag);
  }
+
+  // create tree slider
+  sim->m->vis.global.treedepth = 0;
+  mjuiDef defTree[] = {{mjITEM_SLIDERINT, "Tree depth", 2, &sim->m->vis.global.treedepth, "-1 15"}};
+  mjui_add(&sim->ui0, defTree);
+
  mjui_add(&sim->ui0, defOpenGL);
  for (i=0; i<mjNRNDFLAG; i++) {
    mju::strcpy_arr(defFlag[0].name, mjRNDSTRING[i][0]);