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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_sdf.h
+3 -3
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@@ -36,13 +36,13 @@ MJAPI void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNu
const mjtNum x[3]);
// collision between a height field and a signed distance field
int mjc_HFieldSDF(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
int mjc_HFieldSDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
// collision between a mesh and a signed distance field
int mjc_MeshSDF(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
int mjc_MeshSDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
// collision between two signed distance fields
int mjc_SDF(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtNum margin);
int mjc_SDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
// collision between entire flex and SDF geom (batched processing)
int mjc_FlexSDF(const mjModel* m, const mjData* d, mjContact* con,