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Use mj_rayMesh for computing an inexact SDF for mesh-SDF collisions.

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PiperOrigin-RevId: 794576123
Change-Id: I3c688056a5ed617a0787ccf1f4aa683f9409040f
This commit is contained in:
Alessio Quaglino
2025-08-13 07:49:00 -07:00
committed by Copybara-Service
parent cc52d0242b
commit dcdf0a9c5c
4 changed files with 356 additions and 258 deletions
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model/plugin/sdf/mug.xml
+1 -1
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@@ -27,7 +27,7 @@
</geom>
</body>
<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"/>