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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_util_spatial.c
+1 -1
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@@ -504,7 +504,7 @@ void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
}
// make 3D frame given X axis (normal) and possibly Y axis (tangent 1)
// make 3D frame given x-axis (normal) and possibly y-axis (tangent 1)
void mju_makeFrame(mjtNum frame[9]) {
mjtNum tmp[3];