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

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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
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src/engine/engine_collision_primitive.h
+28 -39
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@@ -18,68 +18,57 @@
#include <mujoco/mjdata.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
// define and extract geom info
#define mjGETINFO \
const mjtNum* pos1 = d->geom_xpos + 3*g1; \
const mjtNum* mat1 = d->geom_xmat + 9*g1; \
const mjtNum* size1 = m->geom_size + 3*g1; \
const mjtNum* pos2 = d->geom_xpos + 3*g2; \
const mjtNum* mat2 = d->geom_xmat + 9*g2; \
const mjtNum* size2 = m->geom_size + 3*g2; \
(void) size1; (void) size2; // size1 and size2 are sometimes unused
#include <mujoco/mjtnum.h>
#ifdef __cplusplus
extern "C" {
#endif
// raw collision functions (called by mjc_XXX)
int mjraw_SphereCapsule (mjContact* con, mjtNum margin,
const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
int mjraw_CapsuleCapsule(mjContact* con, mjtNum margin,
const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
int mjraw_CapsuleBox (mjContact* con, mjtNum margin,
const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
int mjraw_SphereTriangle(mjContact* con, mjtNum margin,
const mjtNum* s, mjtNum rs,
int mjraw_SphereCapsule(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
const mjtNum* size2);
int mjraw_CapsuleCapsule(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
const mjtNum* size2);
int mjraw_CapsuleBox(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
const mjtNum* size2);
int mjraw_SphereTriangle(mjContact* con, mjtNum margin, const mjtNum* s, mjtNum rs,
const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
int mjraw_BoxTriangle(mjContact* con, mjtNum margin, const mjtNum* pos,
const mjtNum* mat, const mjtNum* size, const mjtNum* t1,
const mjtNum* t2, const mjtNum* t3, mjtNum rt);
int mjraw_CapsuleTriangle(mjContact* con, mjtNum margin, const mjtNum* pos,
const mjtNum* mat, const mjtNum* size,
const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
int mjraw_BoxTriangle(mjContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
const mjtNum* size, const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
mjtNum rt);
int mjraw_CapsuleTriangle(mjContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
const mjtNum* size, const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
mjtNum rt);
// plane collisions
MJAPI int mjc_PlaneSphere(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_PlaneSphere(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_PlaneCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_PlaneCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_PlaneCylinder(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_PlaneCylinder(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_PlaneBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_PlaneBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
// sphere and capsule collisions
MJAPI int mjc_SphereSphere(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_SphereCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_SphereSphere(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_SphereCylinder(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_SphereCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_SphereCylinder(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_CapsuleCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_CapsuleCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
// box collisions: from engine_collision_box.c
MJAPI int mjc_CapsuleBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_CapsuleBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_SphereBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_SphereBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
MJAPI int mjc_BoxBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
MJAPI int mjc_BoxBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
mjtNum margin);
#ifdef __cplusplus