From bdccbcc60ad6a481fa23f16f254dfd293ee63f71 Mon Sep 17 00:00:00 2001 From: Kyle Bayes Date: Tue, 30 Sep 2025 03:39:37 -0700 Subject: [PATCH] Add multiccd fields to MJX and add simplex box-mesh model. PiperOrigin-RevId: 813190617 Change-Id: Idc450da59d6420825077a642719525750f6551ec --- mjx/mujoco/mjx/_src/types.py | 12 +++++++++ .../testdata/collision_convex/box_boxmesh.xml | 25 +++++++++++++++++++ 2 files changed, 37 insertions(+) create mode 100644 test/engine/testdata/collision_convex/box_boxmesh.xml diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py index b4a906e6..c582ac45 100644 --- a/mjx/mujoco/mjx/_src/types.py +++ b/mjx/mujoco/mjx/_src/types.py @@ -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 diff --git a/test/engine/testdata/collision_convex/box_boxmesh.xml b/test/engine/testdata/collision_convex/box_boxmesh.xml new file mode 100644 index 00000000..95554319 --- /dev/null +++ b/test/engine/testdata/collision_convex/box_boxmesh.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + +