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Add Signed Distance Field to collision geometries.

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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
This commit is contained in:
Alessio Quaglino
2023-08-16 09:14:29 -07:00
committed by Copybara-Service
parent 6245edae28
commit fdb041580c
57 changed files with 3229 additions and 81 deletions
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include/mujoco/mjxmacro.h
+4 -1
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@@ -41,7 +41,9 @@
X( int, noslip_iterations ) \
X( int, mpr_iterations ) \
X( int, disableflags ) \
X( int, enableflags )
X( int, enableflags ) \
X( int, sdf_initpoints ) \
X( int, sdf_iterations )
#define MJOPTION_SCALARS \
@@ -225,6 +227,7 @@
XMJV( int, geom_matid, ngeom, 1 ) \
XMJV( int, geom_group, ngeom, 1 ) \
X ( int, geom_priority, ngeom, 1 ) \
X ( int, geom_plugin, ngeom, 1 ) \
X ( mjtByte, geom_sameframe, ngeom, 1 ) \
X ( mjtNum, geom_solmix, ngeom, 1 ) \
X ( mjtNum, geom_solref, ngeom, mjNREF ) \