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
@@ -82,7 +82,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjGEOM_CYLINDER', 5),
             ('mjGEOM_BOX', 6),
             ('mjGEOM_MESH', 7),
-             ('mjNGEOMTYPES', 8),
+             ('mjGEOM_SDF', 8),
+             ('mjNGEOMTYPES', 9),
             ('mjGEOM_ARROW', 100),
             ('mjGEOM_ARROW1', 101),
             ('mjGEOM_ARROW2', 102),
@@ -553,7 +554,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjVIS_SKIN', 23),
             ('mjVIS_MIDPHASE', 24),
             ('mjVIS_MESHBVH', 25),
-             ('mjNVISFLAG', 26),
+             ('mjVIS_SDFITER', 26),
+             ('mjNVISFLAG', 27),
         ]),
     )),
    ('mjtRndFlag',
@@ -592,6 +594,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjPLUGIN_ACTUATOR', 1),
             ('mjPLUGIN_SENSOR', 2),
             ('mjPLUGIN_PASSIVE', 4),
+             ('mjPLUGIN_SDF', 8),
         ]),
     )),
    ('mjtGridPos',