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
@@ -0,0 +1,51 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set(MUJOCO_SDF_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/../..
+                       ${CMAKE_CURRENT_SOURCE_DIR}/../../src
+)
+
+set(MUJOCO_SDF_SRCS
+    sdf.cc
+    sdf.h
+    bolt.cc
+    bolt.h
+    bowl.cc
+    bowl.h
+    gear.cc
+    gear.h
+    register.cc
+    nut.cc
+    nut.h
+    torus.cc
+    torus.h
+)
+
+add_library(sdf SHARED)
+target_sources(sdf PRIVATE ${MUJOCO_SDF_SRCS})
+target_include_directories(sdf PRIVATE ${MUJOCO_SDF_INCLUDE})
+target_link_libraries(sdf PRIVATE mujoco)
+target_compile_options(
+  sdf
+  PRIVATE ${AVX_COMPILE_OPTIONS}
+          ${MUJOCO_MACOS_COMPILE_OPTIONS}
+          ${EXTRA_COMPILE_OPTIONS}
+          ${MUJOCO_CXX_FLAGS}
+)
+target_link_options(
+  sdf
+  PRIVATE
+  ${MUJOCO_MACOS_LINK_OPTIONS}
+  ${EXTRA_LINK_OPTIONS}
+)