chenlin/Mujoco_WASM
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376dc59ea07e005448f7ec159fb0589eaf940683
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3 Commits

Author SHA1 Message Date
Alessio Quaglino 8ca51b5318 Backtracking line search for SDF collisions. 
Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.

This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.

PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
 2023-11-20 06:33:01 -08:00
Alessio Quaglino 1afd98ec4b Add [SdfLib](https://github.com/UPC-ViRVIG/SdfLib) plugin to first-party SDFs. 
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW

PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
 2023-09-14 06:42:42 -07:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries. 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
 2023-08-16 09:15:23 -07:00