Add SDF functions to public API.

PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e

doc/APIreference/APItypes.rst

@@ -357,6 +357,26 @@ last argument to :ref:`mj_local2global`.
 .. mujoco-include:: mjtSameFrame
 
 
+.. _mjtFlexSelf:
+
+mjtFlexSelf
+~~~~~~~~~~~~
+
+Types of flex self-collisions midphase.
+
+.. mujoco-include:: mjtFlexSelf
+
+
+.. _mjtSDFType:
+
+mjtSDFType
+~~~~~~~~~~~
+
+Formulas used to combine SDFs when calling mjc_distance and mjc_gradient.
+
+.. mujoco-include:: mjtSDFType
+
+
 .. _tyDataEnums:
 
 Data

doc/includes/references.h

@@ -766,6 +766,12 @@ typedef enum mjtFlexSelf_ {       // mode for flex selfcollide
   mjFLEXSELF_SAP,                 // use SAP in midphase
   mjFLEXSELF_AUTO                 // choose between BVH and SAP automatically
 } mjtFlexSelf;
+typedef enum mjtSDFType_ {        // signed distance function (SDF) type
+  mjSDFTYPE_SINGLE     = 0,       // single SDF
+  mjSDFTYPE_INTERSECTION,         // max(A, B)
+  mjSDFTYPE_MIDSURFACE,           // A - B
+  mjSDFTYPE_COLLISION,            // A + B + abs(max(A, B))
+} mjtSDFType;
 struct mjLROpt_ {                 // options for mj_setLengthRange()
   // flags
   int mode;                       // which actuators to process (mjtLRMode)
@@ -1586,6 +1592,15 @@ struct mjpPlugin_ {
   void (*sdf_aabb)(mjtNum aabb[6], const mjtNum* attributes);
 };
 typedef struct mjpPlugin_ mjpPlugin;
+struct mjSDF_ {
+  const mjpPlugin** plugin;
+  int* id;
+  mjtSDFType type;
+  mjtNum* relpos;
+  mjtNum* relmat;
+  mjtGeom* geomtype;
+};
+typedef struct mjSDF_ mjSDF;
 typedef enum mjtGridPos_ {        // grid position for overlay
   mjGRID_TOPLEFT      = 0,        // top left
   mjGRID_TOPRIGHT,                // top right
@@ -3637,6 +3652,10 @@ void mju_insertionSortInt(int* list, int n);
 mjtNum mju_Halton(int index, int base);
 char* mju_strncpy(char *dst, const char *src, int n);
 mjtNum mju_sigmoid(mjtNum x);
+const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
+mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
+void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
+                  const mjtNum x[3]);
 void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
                       mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
 void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,