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
@@ -493,7 +493,7 @@ def build_struct_source(

  if not is_mjs:
    # default constructor
-    with builder.function(f"{w}::{w}() : ptr_(new {s}){fields_init}"):
+    with builder.function(f"{w}::{w}() : ptr_(new {s}()){fields_init}"):
      builder.line("owned_ = true;")
      default_func = _default_function_statement(s)
      if default_func: