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Margin and gap redesign (breaking change)

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PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
This commit is contained in:
Yuval Tassa
2026-05-12 09:43:07 -07:00
committed by Copybara-Service
parent 7f5be412a0
commit a4e49f2dff
29 changed files with 2082 additions and 178 deletions
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include/mujoco/mjdata.h
+1 -1
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@@ -130,7 +130,7 @@ struct mjContact_ { // result of collision detection functions
mjtNum frame[9]; // normal is in [0-2], points from geom[0] to geom[1]
// contact parameters set by mj_collideGeoms
mjtNum includemargin; // include if dist<includemargin=margin-gap
mjtNum includemargin; // margin for force generation
mjtNum friction[5]; // tangent1, 2, spin, roll1, 2
mjtNum solref[mjNREF]; // constraint solver reference, normal direction
mjtNum solreffriction[mjNREF]; // constraint solver reference, friction directions