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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_driver.c
+18
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@@ -1944,6 +1944,24 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
vertxpos + 3*edata[2], m->flex_radius[f]);
}
// box : triangle
else if (type == mjGEOM_BOX && dim == 2) {
const mjtNum* vertxpos = d->flexvert_xpos + 3 * m->flex_vertadr[f];
num = mjraw_BoxTriangle(con, margin, d->geom_xpos + 3 * g,
d->geom_xmat + 9 * g, m->geom_size + 3 * g,
vertxpos + 3 * edata[0], vertxpos + 3 * edata[1],
vertxpos + 3 * edata[2], m->flex_radius[f]);
}
// capsule : triangle
else if (type == mjGEOM_CAPSULE && dim == 2) {
const mjtNum* vertxpos = d->flexvert_xpos + 3 * m->flex_vertadr[f];
num = mjraw_CapsuleTriangle(
con, margin, d->geom_xpos + 3 * g, d->geom_xmat + 9 * g,
m->geom_size + 3 * g, vertxpos + 3 * edata[0], vertxpos + 3 * edata[1],
vertxpos + 3 * edata[2], m->flex_radius[f]);
}
// general geom : elem
else {
num = mjc_ConvexElem(m, d, con, g, -1, -1, -1, f, e, margin);