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
@@ -56,8 +56,6 @@ TEST_F(PluginTest, ElasticEnergy) {
  mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
  ASSERT_THAT(m, testing::NotNull()) << error;
  mjData* d = mj_makeData(m);
-
-  EXPECT_THAT(mjp_pluginCount(), 2);
  auto* solid = reinterpret_cast<plugin::elasticity::Solid*>(d->plugin_data[0]);

  // check that if the entire geometry is rescaled by a factor "scale", then