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
@@ -983,6 +983,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
    READDSBL("actuation",    mjDSBL_ACTUATION)
    READDSBL("refsafe",      mjDSBL_REFSAFE)
    READDSBL("sensor",       mjDSBL_SENSOR)
+    READDSBL("midphase",     mjDSBL_MIDPHASE)
 #undef READDSBL

 #define READENBL(NAME, MASK) \