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
@@ -535,6 +535,26 @@ std::unique_ptr<MjModelWrapper> MjModelWrapper::Deserialize(
  return std::unique_ptr<MjModelWrapper>(new MjModelWrapper(model));
 }

+// ==================== MJPRECONTACT ==========================================
+#define X(var) var(InitPyArray(ptr_->var, owner_))
+MjPreContactWrapper::MjWrapper()
+    : WrapperBase(new raw::MjPreContact{}),
+      X(pos),
+      X(normal),
+      X(tangent) {}
+
+MjPreContactWrapper::MjWrapper(raw::MjPreContact* ptr, py::handle owner)
+    : WrapperBase(ptr, owner),
+      X(pos),
+      X(normal),
+      X(tangent) {}
+#undef X
+
+MjPreContactWrapper::MjWrapper(const MjPreContactWrapper& other)
+    : MjPreContactWrapper() {
+  *this->ptr_ = *other.ptr_;
+}
+
 // ==================== MJCONTACT ==============================================
 #define X(var) var(InitPyArray(ptr_->var, owner_))
 MjContactWrapper::MjWrapper()