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Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.

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PiperOrigin-RevId: 933105275
Change-Id: Id862b01774df63dcdb42629a5b7dd12019f12ffd
This commit is contained in:
Kyle Bayes
2026-06-16 08:32:34 -07:00
committed by Copybara-Service
parent b469144a81
commit d9b677b49b
5 changed files with 120 additions and 117 deletions
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src/engine/engine_collision_convex.h
+2 -2
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@@ -114,11 +114,11 @@ int mjc_ConvexHField(const mjModel* m, mjData* d, mjPreContact* con, int g1, int
MJAPI int mjc_Convex(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
// geom-elem or elem-elem or vert-elem collision function using ccd
int mjc_ConvexElem(const mjModel* m, mjData* d, mjContact* con, int g1, int f1, int e1, int v1,
int mjc_ConvexElem(const mjModel* m, mjData* d, mjPreContact* con, int g1, int f1, int e1, int v1,
int f2, int e2, mjtNum margin);
// heightfield-elem collision function using ccd
int mjc_HFieldElem(const mjModel* m, mjData* d, mjContact* con, int g, int f, int e,
int mjc_HFieldElem(const mjModel* m, mjData* d, mjPreContact* con, int g, int f, int e,
mjtNum margin);
// fix contact frame normal