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Modify mjc_FlexSDF to support mjPreContact directly.

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PiperOrigin-RevId: 933068825
Change-Id: I328d64bb05270067ce146908b0df3ca83f10ed9b
This commit is contained in:
Kyle Bayes
2026-06-16 07:03:45 -07:00
committed by Copybara-Service
parent 55d7ff49ec
commit b469144a81
4 changed files with 79 additions and 69 deletions
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src/engine/engine_collision_sdf.h
+1 -1
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@@ -45,7 +45,7 @@ int mjc_MeshSDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
int mjc_SDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
// collision between entire flex and SDF geom (batched processing)
int mjc_FlexSDF(const mjModel* m, const mjData* d, mjContact* con,
int mjc_FlexSDF(const mjModel* m, const mjData* d, mjPreContact* con, int* elem,
int g, int f, mjtNum margin);
#ifdef __cplusplus