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Specialized box and capsule collision primitives for stable 2D flex interactions.

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PiperOrigin-RevId: 864500749
Change-Id: I52aed6e29569477a8a0b6b5eb55ad483f1077c0e
This commit is contained in:
Alessio Quaglino
2026-02-02 13:35:46 -08:00
committed by Copybara-Service
parent 8344dba11e
commit a54c9f1d78
6 changed files with 353 additions and 6 deletions
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src/engine/engine_collision_convex.c
+25 -6
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@@ -1477,13 +1477,15 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
int gid[2] = {g1, g2};
mjtGeom type[2];
for (int i=0; i < 2; i++) {
type[i] = m->geom_type[gid[i]];
if (gid[i] < 0) {
type[i] = mjGEOM_NONE;
} else {
type[i] = m->geom_type[gid[i]];
}
// set to mjGEOM_NONE if type cannot be processed
if (type[i] != mjGEOM_SPHERE &&
type[i] != mjGEOM_CAPSULE &&
type[i] != mjGEOM_ELLIPSOID &&
type[i] != mjGEOM_CYLINDER) {
if (type[i] != mjGEOM_SPHERE && type[i] != mjGEOM_CAPSULE &&
type[i] != mjGEOM_ELLIPSOID && type[i] != mjGEOM_CYLINDER) {
type[i] = mjGEOM_NONE;
}
}
@@ -1582,6 +1584,7 @@ void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, in
nrm[2] = 0;
processed[i] = 1;
break;
default:
// do nothing: only sphere, capsule, ellipsoid and cylinder are processed
break;
@@ -1630,7 +1633,23 @@ int mjc_ConvexElem(const mjModel* m, const mjData* d, mjContact* con,
mjc_setCCDObjFlex(&obj2, f2, e2, -1);
// find contacts
return mjc_CCDIteration(m, d, &obj1, &obj2, con, 1, margin);
int ncon = mjc_CCDIteration(m, d, &obj1, &obj2, con, 1, margin);
// fix normals for 2D flex
if (ncon && !mjDISABLED(mjDSBL_NATIVECCD)) {
// check if either object is a 2D flex
int isflex2d = 0;
if (f1 >= 0 && m->flex_dim[f1] == 2) isflex2d = 1;
if (f2 >= 0 && m->flex_dim[f2] == 2) isflex2d = 1;
if (isflex2d) {
for (int i = 0; i < ncon; i++) {
mjc_fixNormal(m, d, con + i, g1, -1);
}
}
}
return ncon;
}