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

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PiperOrigin-RevId: 629437563
Change-Id: Ic7fb6ec8a5c6680dd2c0a71baa7cc78636d478b1
This commit is contained in:
Alessio Quaglino
2024-04-30 09:28:17 -07:00
committed by Copybara-Service
parent 6f97f42458
commit ec84ddb5a4
3 changed files with 4 additions and 2 deletions
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src/engine/engine_collision_driver.c
+1 -1
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@@ -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},