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
@@ -615,6 +615,32 @@ This is useful for example when the MJB is not available as a file on disk.)"));
  X(int, nupdate);
 #undef X

+  // ==================== MJPRECONTACT ==========================================
+  py::class_<MjPreContactWrapper> mjPreContact(m, "MjPreContact");
+  mjPreContact.def(py::init<>());
+  mjPreContact.def("__copy__", [](const MjPreContactWrapper& self) {
+    return MjPreContactWrapper(self);
+  });
+  mjPreContact.def("__deepcopy__", [](const MjPreContactWrapper& self, py::dict) {
+    return MjPreContactWrapper(self);
+  });
+  DefineStructFunctions(mjPreContact);
+
+#define X(var)                                                           \
+  mjPreContact.def_property(                                             \
+      #var, [](const MjPreContactWrapper& c) { return c.get()->var; },   \
+      [](MjPreContactWrapper& c, decltype(raw::MjPreContact::var) rhs) { \
+        c.get()->var = rhs;                                              \
+      })
+  X(dist);
+#undef X
+
+#define X(var) DefinePyArray(mjPreContact, #var, &MjPreContactWrapper::var)
+  X(pos);
+  X(normal);
+  X(tangent);
+#undef X
+
  // ==================== MJCONTACT ============================================
  py::class_<MjContactWrapper> mjContact(m, "MjContact");
  mjContact.def(py::init<>());