Add passive collision mode for flexes.

PiperOrigin-RevId: 801754907 Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:07 -07:00
parent b9900db00e
commit 8acd83f317
17 changed files with 320 additions and 134 deletions
@@ -143,7 +143,7 @@ struct mjContact_ {                // result of collision detection functions
  int     vert[2];                 // vertex ids;  -1 for geom or flex element

  // flag set by mj_setContact or mj_instantiateContact
-  int     exclude;                 // 0: include, 1: in gap, 2: fused, 3: no dofs
+  int     exclude;                 // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive

  // address computed by mj_instantiateContact
  int     efc_address;             // address in efc; -1: not included