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
@@ -53,7 +53,8 @@ const char* mjDISABLESTRING[mjNDISABLE] = {
  "Filterparent",
  "Actuation",
  "Refsafe",
-  "Sensor"
+  "Sensor",
+  "Midphase"
 };