Add Signed Distance Field to collision geometries.

PiperOrigin-RevId: 557507088 Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:14:29 -07:00
parent 6245edae28
commit fdb041580c
57 changed files with 3229 additions and 81 deletions
@@ -126,6 +126,7 @@ typedef enum mjtVisFlag_ {        // flags enabling model element visualization
  mjVIS_SKIN,                     // skin
  mjVIS_MIDPHASE,                 // mid-phase bounding volume hierarchy
  mjVIS_MESHBVH,                  // mesh bounding volume hierarchy
+  mjVIS_SDFITER,                  // iterations of SDF gradient descent

  mjNVISFLAG                      // number of visualization flags
 } mjtVisFlag;