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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_primitive.h
+7
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@@ -46,6 +46,13 @@ int mjraw_CapsuleBox (mjContact* con, mjtNum margin,
int mjraw_SphereTriangle(mjContact* con, mjtNum margin,
const mjtNum* s, mjtNum rs,
const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
int mjraw_BoxTriangle(mjContact* con, mjtNum margin, const mjtNum* pos,
const mjtNum* mat, const mjtNum* size, const mjtNum* t1,
const mjtNum* t2, const mjtNum* t3, mjtNum rt);
int mjraw_CapsuleTriangle(mjContact* con, mjtNum margin, const mjtNum* pos,
const mjtNum* mat, const mjtNum* size,
const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
mjtNum rt);
// plane collisions
MJAPI int mjc_PlaneSphere (const mjModel* m, const mjData* d,