chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add Signed Distance Field to collision geometries.

Browse Source 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
This commit is contained in:
Alessio Quaglino
2023-08-16 09:14:29 -07:00
committed by Copybara-Service
parent 6245edae28
commit fdb041580c
57 changed files with 3229 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files
unity/Runtime/Bindings/MjBindings.cs
+10 -4
View File
@@ -39,7 +39,7 @@ public const double mjMAXVAL = 10000000000.0;
public const double mjMINMU = 1e-05;
public const double mjMINIMP = 0.0001;
public const double mjMAXIMP = 0.9999;
public const int mjMAXCONPAIR = 50;
public const int mjMAXCONPAIR = 100;
public const int mjMAXTREEDEPTH = 50;
public const int mjMAXVFS = 2000;
public const int mjMAXVFSNAME = 1000;
@@ -177,7 +177,8 @@ public enum mjtGeom : int{
mjGEOM_CYLINDER = 5,
mjGEOM_BOX = 6,
mjGEOM_MESH = 7,
mjNGEOMTYPES = 8,
mjGEOM_SDF = 8,
mjNGEOMTYPES = 9,
mjGEOM_ARROW = 100,
mjGEOM_ARROW1 = 101,
mjGEOM_ARROW2 = 102,
@@ -374,6 +375,7 @@ public enum mjtPluginCapabilityBit : int{
mjPLUGIN_ACTUATOR = 1,
mjPLUGIN_SENSOR = 2,
mjPLUGIN_PASSIVE = 4,
mjPLUGIN_SDF = 8,
}
public enum mjtGridPos : int{
mjGRID_TOPLEFT = 0,
@@ -497,7 +499,8 @@ public enum mjtVisFlag : int{
mjVIS_SKIN = 23,
mjVIS_MIDPHASE = 24,
mjVIS_MESHBVH = 25,
mjNVISFLAG = 26,
mjVIS_SDFITER = 26,
mjNVISFLAG = 27,
}
public enum mjtRndFlag : int{
mjRND_SHADOW = 0,
@@ -1776,6 +1779,8 @@ public unsafe struct mjOption_ {
public int mpr_iterations;
public int disableflags;
public int enableflags;
public int sdf_initpoints;
public int sdf_iterations;
}
[StructLayout(LayoutKind.Sequential)]
@@ -2033,6 +2038,7 @@ public unsafe struct mjModel_ {
public int* geom_matid;
public int* geom_group;
public int* geom_priority;
public int* geom_plugin;
public byte* geom_sameframe;
public double* geom_solmix;
public double* geom_solref;
@@ -2601,7 +2607,7 @@ public unsafe struct mjvOption_ {
public fixed byte tendongroup[6];
public fixed byte actuatorgroup[6];
public fixed byte skingroup[6];
public fixed byte flags[26];
public fixed byte flags[27];
public int bvh_depth;
}