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Initial (unoptimized) implementation of EPA.

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PiperOrigin-RevId: 659938320
Change-Id: I72c6c6bd7504bce36e4788d90b06b2cb3849b4db
This commit is contained in:
Kyle Bayes
2024-08-06 06:53:01 -07:00
committed by Copybara-Service
parent 9db9df7380
commit a1d9b47e2f
3 changed files with 495 additions and 52 deletions
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src/engine/engine_collision_gjk.h
+3
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@@ -34,6 +34,9 @@ typedef struct _mjCCDConfig mjCCDConfig;
// recoverable from x_0 in obj1 and obj2.
MJAPI mjtNum mj_gjk(const mjCCDConfig* config, mjCCDObj* obj1, mjCCDObj* obj2);
// Same as mj_gjk, but returns the penetration depth (negative distance) if the objects intersect.
MJAPI mjtNum mj_gjkPenetration(const mjCCDConfig* config, mjCCDObj* obj1, mjCCDObj* obj2);
#ifdef __cplusplus
}
#endif