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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_primitive.h
+3 -3
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@@ -34,12 +34,12 @@ int mjraw_CapsuleCapsule(mjPreContact* con, mjtNum margin, const mjtNum* pos1, c
int mjraw_CapsuleBox(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
const mjtNum* size2);
int mjraw_SphereTriangle(mjContact* con, mjtNum margin, const mjtNum* s, mjtNum rs,
int mjraw_SphereTriangle(mjPreContact* con, mjtNum margin, const mjtNum* s, mjtNum rs,
const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
int mjraw_BoxTriangle(mjContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
int mjraw_BoxTriangle(mjPreContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
const mjtNum* size, const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
mjtNum rt);
int mjraw_CapsuleTriangle(mjContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
int mjraw_CapsuleTriangle(mjPreContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
const mjtNum* size, const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
mjtNum rt);