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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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src/engine/engine_io.c
+5 -3
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@@ -144,6 +144,7 @@ void mj_defaultVisual(mjVisual* vis) {
vis->global.offwidth = 640;
vis->global.offheight = 480;
vis->global.realtime = 1.0;
vis->global.treedepth = 1;
// rendering quality
vis->quality.shadowsize = 4096;
@@ -375,7 +376,7 @@ static int safeAddToBufferSize(intptr_t* offset, int* nbuffer, size_t type_size,
// allocate and initialize mjModel structure
mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int njnt,
mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int njnt,
int ngeom, int nsite, int ncam, int nlight,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
@@ -402,6 +403,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int njnt,
m->nu = nu;
m->na = na;
m->nbody = nbody;
m->nbvh = nbvh;
m->njnt = njnt;
m->ngeom = ngeom;
m->nsite = nsite;
@@ -521,7 +523,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
// allocate new model if needed
if (!dest) {
dest = mj_makeModel(src->nq, src->nv, src->nu, src->na, src->nbody, src->njnt,
dest = mj_makeModel(src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh, src->njnt,
src->ngeom, src->nsite, src->ncam, src->nlight, src->nmesh, src->nmeshvert,
src->nmeshnormal, src->nmeshtexcoord, src->nmeshface, src->nmeshgraph,
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
@@ -702,7 +704,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
info[28], info[29], info[30], info[31], info[32], info[33], info[34],
info[35], info[36], info[37], info[38], info[39], info[40], info[41],
info[42], info[43], info[44], info[45], info[46], info[47], info[48],
info[49], info[50], info[51]);
info[49], info[50], info[51], info[52]);
if (!m || m->nbuffer!=info[getnint()-1]) {
if (fp) {
fclose(fp);