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
@@ -292,6 +292,7 @@ STRUCTS_TO_BIND: list[str] = list(
 NO_DEFAULT_CONSTRUCTORS: tuple[str, ...] = (
    # go/keep-sorted start
    "mjContact",
+    "mjPreContact",
    "mjSolverStat",
    "mjStatistic",
    "mjTimerStat",