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
@@ -88,7 +88,8 @@ const char* mjVISSTRING[mjNVISFLAG][3] = {
  {"Center of &Mass", "0", "M"},
  {"S&elect Point",   "0", "E"},
  {"Static Bo&dy",    "1", "D"},
-  {"Skin",            "1", ";"}
+  {"Skin",            "1", ";"},
+  {"Body Tree",       "0", "`"}
 };