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Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom.

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PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
This commit is contained in:
Kyle Bayes
2025-02-24 08:13:09 -08:00
committed by Copybara-Service
parent cf1784bb79
commit ae1c3b7ec0
10 changed files with 935 additions and 158 deletions
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src/engine/engine_collision_convex.c
+4 -4
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@@ -898,16 +898,16 @@ int mjc_Convex(const mjModel* m, const mjData* d,
mjc_initCCDObj(&obj2, m, d, g2, margin);
int max_contacts = 1;
if (mjENABLED(mjENBL_MULTICCD)) {
// TODO(kylebayes): Support contact pruning.
max_contacts = 8;
max_contacts = 4;
}
// find initial contact
int ncon = mjc_CCDIteration(m, d, &obj1, &obj2, con, max_contacts, margin);
// nativeccd supports multi Box-Box collision directly
if (mjENABLED(mjENBL_NATIVECCD) && m->geom_type[g1] == mjGEOM_BOX
&& m->geom_type[g2] == mjGEOM_BOX) {
if (mjENABLED(mjENBL_NATIVECCD) &&
(m->geom_type[g1] == mjGEOM_BOX || m->geom_type[g1] == mjGEOM_MESH) &&
(m->geom_type[g2] == mjGEOM_BOX || m->geom_type[g2] == mjGEOM_MESH)) {
return ncon;
}