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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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src/engine/engine_collision_driver.h
+3
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@@ -55,6 +55,9 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2);
// test a plane geom and a flex for collision, add to contact list
void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f);
// test an SDF geom and a flex for collision, add to contact list
void mj_collideSdfFlex(const mjModel* m, mjData* d, int g, int f);
// test for internal flex collisions, add to contact list
void mj_collideFlexInternal(const mjModel* m, mjData* d, int f);