Add multiccd fields to MJX and add simplex box-mesh model.

PiperOrigin-RevId: 813190617 Change-Id: Idc450da59d6420825077a642719525750f6551ec
2025-09-30 03:39:37 -07:00
parent 70d03adc71
commit bdccbcc60a
2 changed files with 37 additions and 0 deletions
@@ -615,6 +615,15 @@ class ModelC(PyTreeNode):
  D_colind: jax.Array  # pylint:disable=invalid-name
  mapM2D: jax.Array  # pylint:disable=invalid-name
  mapD2M: jax.Array  # pylint:disable=invalid-name
+  mesh_polynum: jax.Array
+  mesh_polyadr: jax.Array
+  mesh_polynormal: jax.Array
+  mesh_polyvertadr: jax.Array
+  mesh_polyvertnum: jax.Array
+  mesh_polyvert: jax.Array
+  mesh_polymapadr: jax.Array
+  mesh_polymapnum: jax.Array
+  mesh_polymap: jax.Array


 class ModelJAX(PyTreeNode):
@@ -649,6 +658,9 @@ class Model(PyTreeNode):
  nmeshtexcoord: int
  nmeshface: int
  nmeshgraph: int
+  nmeshpoly: int
+  nmeshpolyvert: int
+  nmeshpolymap: int
  nhfield: int
  nhfielddata: int
  ntex: int
@@ -0,0 +1,25 @@
+<mujoco model="Box mesh with multiccd">
+  <option>
+    <flag multiccd="enable"/>
+  </option>
+
+  <asset>
+    <mesh name="box"
+          vertex="-1 -1 -1
+                   1 -1 -1
+                   1  1 -1
+                   1  1  1
+                   1 -1  1
+                  -1  1 -1
+                  -1  1  1
+                  -1 -1  1"/>
+  </asset>
+
+  <worldbody>
+    <geom pos="0 0 -1" type="box" size="5 5 1"/>
+    <body pos="0 0 0.9999">
+      <freejoint/>
+      <geom type="mesh" mesh="box"/>
+    </body>
+  </worldbody>
+</mujoco>