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Add collisions between flexes and SDF geoms.

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The flex-SDF algorithm uses the same logic as mesh-SDF. Previous to this change, the flex was instead colliding with the convex hull of the mesh generated automatically with marching cubes from the SDF.

PiperOrigin-RevId: 876420302
Change-Id: I3bf6552b6b8e108ba4c4209bbcf10fe5f2b2fd90
This commit is contained in:
Alessio Quaglino
2026-02-27 14:34:25 -08:00
committed by Copybara-Service
parent c2e67ab507
commit bf74d01d93
7 changed files with 588 additions and 128 deletions
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doc/changelog.rst
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@@ -5,6 +5,11 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
- Flexes now support collisions with SDF geoms.
MJX
^^^