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
@@ -547,6 +547,27 @@ template <>
 struct enable_if_mj_struct<raw::MjModel> { using type = void; };

 // ==================== MJCONTACT ==============================================
+template <>
+class MjWrapper<raw::MjPreContact> : public WrapperBase<raw::MjPreContact> {
+ public:
+  MjWrapper();
+  MjWrapper(const MjWrapper&);
+  MjWrapper(MjWrapper&&) = default;
+  MjWrapper(raw::MjPreContact* ptr, pybind11::handle owner);
+  ~MjWrapper() = default;
+
+  #define X(var)                                                     \
+    py_array_or_tuple_t<                                             \
+        std::remove_all_extents_t<decltype(raw::MjPreContact::var)>> \
+        var
+  X(pos);
+  X(normal);
+  X(tangent);
+  #undef X
+};
+
+using MjPreContactWrapper = MjWrapper<raw::MjPreContact>;
+
 template <>
 class MjWrapper<raw::MjContact> : public WrapperBase<raw::MjContact> {
 public:
@@ -961,6 +982,7 @@ using _impl::MjSolverStatWrapper;
 using _impl::MjModelWrapper;
 using _impl::MjDataWrapper;
 using _impl::MjContactWrapper;
+using _impl::MjPreContactWrapper;
 using _impl::MjvPerturbWrapper;
 using _impl::MjvCameraWrapper;
 using _impl::MjvGLCameraWrapper;