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
@@ -2743,6 +2743,14 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, int vfs_provider) {
      }
    }

+    for (int i = 0; i < ngeom; ++i) {
+      if (geoms[i]->is_plugin) {
+        m->geom_plugin[i] = geoms[i]->plugin_instance->id;
+      } else {
+        m->geom_plugin[i] = -1;
+      }
+    }
+
    std::vector<std::vector<int>> plugin_to_sensors(nplugin);
    for (int i = 0; i < nsensor; ++i) {
      if (sensors[i]->type == mjSENS_PLUGIN) {