chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
PiperOrigin-RevId: 918533795
Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
This commit is contained in:
Kyle Bayes
2026-05-20 10:47:11 -07:00
committed by Copybara-Service
parent 53b3137a12
commit 7174d33f08
25 changed files with 709 additions and 406 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+8 -1
View File
@@ -101,8 +101,15 @@ typedef enum mjtSleepState_ { // sleep state of an object
mjS_ASLEEP = 0, // object is asleep
mjS_AWAKE = 1 // object is awake
} mjtSleepState;
struct mjPreContact_ { // contact parameters set by narrowphase collision functions
mjtNum dist;
mjtNum pos[3];
mjtNum normal[3]; // contact normal of the collision
mjtNum tangent[3]; // first tangent direction
};
typedef struct mjPreContact_ mjPreContact;
struct mjContact_ { // result of collision detection functions
// contact parameters set by near-phase collision function
// contact parameters set by narrowphase collision function
mjtNum dist; // distance between nearest points; neg: penetration
mjtNum pos[3]; // position of contact point: midpoint between geoms
mjtNum frame[9]; // normal is in [0-2], points from geom[0] to geom[1]