Add SDF functions to public API.

PiperOrigin-RevId: 757829339 Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
2025-05-12 10:52:41 -07:00
parent d77126dc58
commit 8a7c42c747
10 changed files with 232 additions and 16 deletions
@@ -1308,6 +1308,19 @@ MJAPI char* mju_strncpy(char *dst, const char *src, int n);
 MJAPI mjtNum mju_sigmoid(mjtNum x);


+//---------------------------------- Signed Distance Function --------------------------------------
+
+// get sdf from geom id
+MJAPI const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
+
+// signed distance function
+MJAPI mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
+
+// gradient of sdf
+MJAPI void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
+                        const mjtNum x[3]);
+
+
 //---------------------------------- Derivatives ---------------------------------------------------

 // Finite differenced transition matrices (control theory notation)