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Use mesh_pos and mesh_quat in SDF transformation.

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The SDF is defined in the `geom` frame. Using a mesh changes this frame so the inverse transformation is needed. So far the full `geom_pos` and `geom_quat` were used, which possibly contained user transformation. This CL uses the new structures which only contain transformations due to mesh processing.

PiperOrigin-RevId: 564721461
Change-Id: I6fb28001b38eaa50663427bce452cb1f05a56ac0
This commit is contained in:
Alessio Quaglino
2023-09-12 07:57:12 -07:00
committed by Copybara-Service
parent 71faea0e62
commit ccda87aafa
1 changed files with 2 additions and 2 deletions
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src/engine/engine_collision_sdf.c
+2 -2
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@@ -259,8 +259,8 @@ static void undoTransformation(const mjModel* m, const mjData* d, int g,
mjtNum* xmat = d->geom_xmat + 9 * g;
if (m->geom_type[g]==mjGEOM_MESH || m->geom_type[g]==mjGEOM_SDF) {
mjtNum negpos[3], negquat[4], xquat[4];
mjtNum* pos = m->geom_pos + 3 * g;
mjtNum* quat = m->geom_quat + 4 * g;
mjtNum* pos = m->mesh_pos + 3 * m->geom_dataid[g];
mjtNum* quat = m->mesh_quat + 4 * m->geom_dataid[g];
mju_mat2Quat(xquat, xmat);
mju_negPose(negpos, negquat, pos, quat);
mju_mulPose(sdf_xpos, sdf_quat, xpos, xquat, negpos, negquat);