chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 10 Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_io.c
-3
View File
@@ -2215,11 +2215,8 @@ const char* mj_validateReferences(const mjModel* m) {
X(mesh_bvhadr, nmesh, nbvh , m->mesh_bvhnum ) \
X(mesh_graphadr, nmesh, nmeshgraph , 0 ) \
X(mesh_polyadr, nmesh, nmeshpoly , m->mesh_polynum ) \
X(mesh_polynormal, nmeshpoly*3, nmeshpoly*3 , 0 ) \
X(mesh_polyvertadr, nmeshpoly, nmeshpolyvert , m->mesh_polyvertnum ) \
X(mesh_polyvert, nmeshpolyvert, nmeshpolyvert , 0 ) \
X(mesh_polymapadr, nmeshvert, nmeshpolymap , m->mesh_polymapnum ) \
X(mesh_polymap, nmeshpolymap, nmeshpolymap , 0 ) \
X(flex_vertadr, nflex, nflexvert , m->flex_vertnum ) \
X(flex_edgeadr, nflex, nflexedge , m->flex_edgenum ) \
X(flex_elemadr, nflex, nflexelem , m->flex_elemnum ) \