Use plane-convex for plane-sdf collisions, using the marching cube mesh.

PiperOrigin-RevId: 629437563
Change-Id: Ic7fb6ec8a5c6680dd2c0a71baa7cc78636d478b1

src/engine/engine_collision_convex.c

@@ -163,6 +163,7 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
     break;
 
   case mjGEOM_MESH:
+  case mjGEOM_SDF:
     // init search
     vertdata = m->mesh_vert + 3*m->mesh_vertadr[m->geom_dataid[g]];
     tmp = -1E+10;

src/engine/engine_collision_driver.c

@@ -40,7 +40,7 @@
 // table of pair-wise collision functions
 mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES] = {
   /*              PLANE  HFIELD  SPHERE            CAPSULE             ELLIPSOID         CYLINDER            BOX               MESH              SDF */
-  /*PLANE     */ {0,     0,      mjc_PlaneSphere,  mjc_PlaneCapsule,   mjc_PlaneConvex,  mjc_PlaneCylinder,  mjc_PlaneBox,     mjc_PlaneConvex,  mjc_SDF},
+  /*PLANE     */ {0,     0,      mjc_PlaneSphere,  mjc_PlaneCapsule,   mjc_PlaneConvex,  mjc_PlaneCylinder,  mjc_PlaneBox,     mjc_PlaneConvex,  mjc_PlaneConvex},
   /*HFIELD    */ {0,     0,      mjc_ConvexHField, mjc_ConvexHField,   mjc_ConvexHField, mjc_ConvexHField,   mjc_ConvexHField, mjc_ConvexHField, mjc_HFieldSDF},
   /*SPHERE    */ {0,     0,      mjc_SphereSphere, mjc_SphereCapsule,  mjc_Convex,       mjc_SphereCylinder, mjc_SphereBox,    mjc_Convex,       mjc_SDF},
   /*CAPSULE   */ {0,     0,      0,                mjc_CapsuleCapsule, mjc_Convex,       mjc_Convex,         mjc_CapsuleBox,   mjc_Convex,       mjc_SDF},

src/user/user_model.cc

@@ -3213,7 +3213,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
 
   // mark meshes that need convex hull
   for (int i=0; i<geoms.size(); i++) {
-    if (geoms[i]->mesh && geoms[i]->spec.type==mjGEOM_MESH &&
+    if (geoms[i]->mesh &&
+        (geoms[i]->spec.type==mjGEOM_MESH || geoms[i]->spec.type==mjGEOM_SDF) &&
         (geoms[i]->spec.contype || geoms[i]->spec.conaffinity)) {
       geoms[i]->mesh->set_needhull(true);
     }