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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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unity/Runtime/Bindings/MjBindings.cs
+15 -3
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@@ -146,7 +146,8 @@ public enum mjtDisableBit : int{
mjDSBL_ACTUATION = 1024,
mjDSBL_REFSAFE = 2048,
mjDSBL_SENSOR = 4096,
mjNDISABLE = 13,
mjDSBL_MIDPHASE = 8192,
mjNDISABLE = 14,
}
public enum mjtEnableBit : int{
mjENBL_OVERRIDE = 1,
@@ -485,7 +486,8 @@ public enum mjtVisFlag : int{
mjVIS_SELECT = 20,
mjVIS_STATIC = 21,
mjVIS_SKIN = 22,
mjNVISFLAG = 23,
mjVIS_MIDPHASE = 23,
mjNVISFLAG = 24,
}
public enum mjtRndFlag : int{
mjRND_SHADOW = 0,
@@ -1644,6 +1646,7 @@ public unsafe struct mjData_ {
public double* qLD;
public double* qLDiagInv;
public double* qLDiagSqrtInv;
public byte* bvh_active;
public double* ten_velocity;
public double* actuator_velocity;
public double* cvel;
@@ -1764,6 +1767,7 @@ public unsafe struct global {
public float realtime;
public int offwidth;
public int offheight;
public int treedepth;
}
[StructLayout(LayoutKind.Sequential)]
@@ -1872,6 +1876,7 @@ public unsafe struct mjModel_ {
public int nu;
public int na;
public int nbody;
public int nbvh;
public int njnt;
public int ngeom;
public int nsite;
@@ -1960,6 +1965,12 @@ public unsafe struct mjModel_ {
public double* body_gravcomp;
public double* body_user;
public int* body_plugin;
public int* body_bvhadr;
public int* body_bvhnum;
public int* bvh_depth;
public int* bvh_child;
public int* bvh_geomid;
public double* bvh_aabb;
public int* jnt_type;
public int* jnt_qposadr;
public int* jnt_dofadr;
@@ -2000,6 +2011,7 @@ public unsafe struct mjModel_ {
public double* geom_solref;
public double* geom_solimp;
public double* geom_size;
public double* geom_aabb;
public double* geom_rbound;
public double* geom_pos;
public double* geom_quat;
@@ -2558,7 +2570,7 @@ public unsafe struct mjvOption_ {
public fixed byte tendongroup[6];
public fixed byte actuatorgroup[6];
public fixed byte skingroup[6];
public fixed byte flags[23];
public fixed byte flags[24];
}
[StructLayout(LayoutKind.Sequential)]