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
@@ -610,6 +610,7 @@ class mjCMesh: public mjCBase {
  void LoadOBJ(mjResource* resource);         // load mesh in wavefront OBJ format
  void LoadSTL(mjResource* resource);         // load mesh in STL BIN format
  void LoadMSH(mjResource* resource);         // load mesh in MSH BIN format
+  void LoadSDF();                             // generate mesh using marching cubes
  void MakeGraph(void);                       // make graph of convex hull
  void CopyGraph(void);                       // copy graph into face data
  void MakeNormal(void);                      // compute vertex normals