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Add primitive sphere-cylinder collider.

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PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036
This commit is contained in:
Yuval Tassa
2023-06-26 17:24:41 -07:00
committed by Copybara-Service
parent 1d6d6f33bf
commit a7021df63e
6 changed files with 185 additions and 2 deletions
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src/engine/engine_collision_driver.c
+1 -1
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@@ -37,7 +37,7 @@ mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES] = {
/* PLANE HFIELD SPHERE CAPSULE ELLIPSOID CYLINDER BOX MESH */
/*PLANE */ {0, 0, mjc_PlaneSphere, mjc_PlaneCapsule, mjc_PlaneConvex, mjc_PlaneCylinder, mjc_PlaneBox, mjc_PlaneConvex},
/*HFIELD */ {0, 0, mjc_ConvexHField, mjc_ConvexHField, mjc_ConvexHField, mjc_ConvexHField, mjc_ConvexHField, mjc_ConvexHField},
/*SHPERE */ {0, 0, mjc_SphereSphere, mjc_SphereCapsule, mjc_Convex, mjc_Convex, mjc_SphereBox, mjc_Convex},
/*SHPERE */ {0, 0, mjc_SphereSphere, mjc_SphereCapsule, mjc_Convex, mjc_SphereCylinder, mjc_SphereBox, mjc_Convex},
/*CAPSULE */ {0, 0, 0, mjc_CapsuleCapsule, mjc_Convex, mjc_Convex, mjc_CapsuleBox, mjc_Convex},
/*ELLIPSOID */ {0, 0, 0, 0, mjc_Convex, mjc_Convex, mjc_Convex, mjc_Convex},
/*CYLINDER */ {0, 0, 0, 0, 0, mjc_Convex, mjc_Convex, mjc_Convex},