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
src/engine/engine_collision_convex.h
+4 -4
View File
@@ -109,9 +109,9 @@ void mjc_pointSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
void mjc_lineSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
// pairwise geom collision functions using ccd
int mjc_PlaneConvex(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
int mjc_ConvexHField(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_Convex(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
int mjc_PlaneConvex(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
int mjc_ConvexHField(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_Convex(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
// geom-elem or elem-elem or vert-elem collision function using ccd
int mjc_ConvexElem(const mjModel* m, mjData* d, mjContact* con, int g1, int f1, int e1, int v1,
@@ -122,7 +122,7 @@ int mjc_HFieldElem(const mjModel* m, mjData* d, mjContact* con, int g, int f, in
mjtNum margin);
// fix contact frame normal
void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2);
void mjc_fixNormal(const mjModel* m, const mjData* d, mjPreContact* con, int g1, int g2);
#ifdef __cplusplus
}