Use mj_rayMesh for computing an inexact SDF for mesh-SDF collisions.
PiperOrigin-RevId: 794576123 Change-Id: I3c688056a5ed617a0787ccf1f4aa683f9409040f
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
cc52d0242b
commit
dcdf0a9c5c
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@@ -0,0 +1,34 @@
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.torus">
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<instance name="torus">
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<config key="radius1" value="0.35"/>
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<config key="radius2" value="0.15"/>
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</instance>
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</plugin>
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</extension>
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<option gravity="0 0 -9.81" sdf_iterations="3" sdf_initpoints="10"/>
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<asset>
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<mesh name="torus">
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<plugin instance="torus"/>
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</mesh>
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<mesh name="die" file="asset/die.obj" scale="1 1 1"/>
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</asset>
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<include file="scene.xml"/>
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<worldbody>
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<body pos="0 .05 2.5" euler="90 0 0">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".8 .17 .15 1" group="1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body>
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||||
<geom type="mesh" mesh="die" euler="90 0 0" rgba="0 0 1 .2"/>
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</body>
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<light pos="1 0 7" dir="0 0 -1" castshadow="false"/>
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<light pos="-1 0 7" dir="0 0 -1" castshadow="false"/>
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</worldbody>
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</mujoco>
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@@ -27,7 +27,7 @@
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</geom>
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</body>
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<body>
|
||||
<geom type="mesh" mesh="mug" euler="90 0 0" rgba="0 0 1 .2"/>
|
||||
<geom type="sdf" mesh="mug" euler="90 0 0" rgba="0 0 1 .2"/>
|
||||
</body>
|
||||
<light pos="1 0 7" dir="0 0 -1" castshadow="false"/>
|
||||
<light pos="-1 0 7" dir="0 0 -1" castshadow="false"/>
|
||||
|
||||
Reference in New Issue
Block a user