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Add sphere-ellipsoid, sphere-cylinder. #2126

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PiperOrigin-RevId: 683747371
Change-Id: Ic11803bb395944380d25ce848d9fbcf19afaad77
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Baruch Tabanpour
2024-10-08 13:35:52 -07:00
committed by Copybara-Service
parent 8256546432
commit fa22e6d001
5 changed files with 69 additions and 17 deletions
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doc/changelog.rst
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@@ -18,6 +18,7 @@ MJX
^^^
- Added ``mocap_pos`` and ``mocap_quat`` in kinematics.
- Added support for :ref:`spatial tendons <tendon-spatial>` with pulleys and external sphere and cylinder wrapping.
- Add sphere-cylinder and sphere-ellipsoid collision functions (:github:issue:`2126`).
Bug fixes
^^^^^^^^^