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Prepare MJX for condim.

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This is a refactor of collision_driver and some of its surrounding code in order to prepare for condim in MJX.  In this change we reify types that are needed for condim: dim, efc_address, efc_type.  We make explicit the way contacts are organized and grouped to guarantee that dim and efc_type are statically defined.

This change simplifies the way meshes are organized on device and slightly speeds up mesh collisions for cases where a single mesh is instanced across many geoms.

PiperOrigin-RevId: 626119500
Change-Id: Ic0c8599bcda2326f2e19cd3246a673e56097886b
This commit is contained in:
Erik Frey
2024-04-18 12:42:10 -07:00
committed by Copybara-Service
parent 8b7f1094f1
commit a4df912018
20 changed files with 868 additions and 914 deletions
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doc/changelog.rst
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@@ -15,13 +15,20 @@ General
MJX
^^^
3. Added cylinder plane collisions.
4. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
5. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
6. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
7. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
8. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
geoms.
9. Fixed a bug where capsules might be ignored in broadphase colliision checking.
Bug fixes
^^^^^^^^^
4. Defaults of lights were not being saved, now fixed.
5. Prevent overwriting of frame names by body names when saving an XML. Introduced in 3.1.4.
6. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
10. Defaults of lights were not being saved, now fixed.
11. Prevent overwriting of frame names by body names when saving an XML. Introduced in 3.1.4.
12. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
Version 3.1.4 (April 10th, 2024)