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

PiperOrigin-RevId: 918533795 Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
2026-05-20 10:47:11 -07:00
parent 53b3137a12
commit 7174d33f08
25 changed files with 709 additions and 406 deletions
@@ -1520,6 +1520,14 @@ public unsafe struct mjModel_ {
  public UInt64 signature;
 }

+[StructLayout(LayoutKind.Sequential)]
+public unsafe struct mjPreContact_ {
+  public double dist;
+  public fixed double pos[3];
+  public fixed double normal[3];
+  public fixed double tangent[3];
+}
+
 [StructLayout(LayoutKind.Sequential)]
 public unsafe struct mjContact_ {
  public double dist;