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
@@ -215,6 +215,7 @@ class mjCModel {
  int nv;                         // number of degrees of freedom = dim(qvel)
  int nu;                         // number of actuators/controls
  int na;                         // number of activation variables
+  int nbvh;                       // number of boundary volume hierarchies
  int nmeshvert;                  // number of vertices in all meshes
  int nmeshnormal;                // number of normals in all meshes
  int nmeshtexcoord;              // number of texture coordinates in all meshes