Introduce mjPreContact, a minimal struct passed into the collision functions.

PiperOrigin-RevId: 918533795 Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
2026-05-20 10:47:11 -07:00
parent 53b3137a12
commit 7174d33f08
25 changed files with 709 additions and 406 deletions
@@ -70,6 +70,9 @@ General
     Negative ``margin`` values are now permitted (corresponding to ``gap > margin`` under the old semantics). The
     constraint ``margin + gap >= 0`` should be maintained to ensure valid collision detection.

+   - The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact`
+     struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase collision detection.
+
   - MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of
     ``naconmax``.