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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_support.c
+3 -3
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@@ -553,7 +553,7 @@ static mjtNum mj_geomDistanceCCD(const mjModel* m, mjData* d, int g1, int g2,
// returns the smallest distance between two geoms
mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
mjtNum fromto[6]) {
mjContact con[mjMAXCONPAIR];
mjPreContact con[mjMAXCONPAIR];
mjtNum dist = distmax;
if (fromto) mju_zero(fromto, 6);
@@ -594,8 +594,8 @@ mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum
// write fromto if given and a collision has been found
if (fromto && smallest >= 0) {
mjtNum sign = flip ? -1 : 1;
mju_addScl3(fromto+0, con[smallest].pos, con[smallest].frame, -0.5*sign*dist);
mju_addScl3(fromto+3, con[smallest].pos, con[smallest].frame, 0.5*sign*dist);
mju_addScl3(fromto+0, con[smallest].pos, con[smallest].normal, -0.5*sign*dist);
mju_addScl3(fromto+3, con[smallest].pos, con[smallest].normal, 0.5*sign*dist);
}
return dist;