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 +1,31 @@
+// 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
+//
+//     http://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.
+
+#include "bolt.h"
+#include "bowl.h"
+#include "gear.h"
+#include "nut.h"
+#include "torus.h"
+
+namespace mujoco::plugin::sdf {
+
+mjPLUGIN_LIB_INIT {
+  Bolt::RegisterPlugin();
+  Bowl::RegisterPlugin();
+  Gear::RegisterPlugin();
+  Nut::RegisterPlugin();
+  Torus::RegisterPlugin();
+}
+
+}  // namespace mujoco::plugin::sdf