chenlin/Mujoco_WASM
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9 Commits

Author SHA1 Message Date
Kyle Bayes b469144a81 Modify mjc_FlexSDF to support mjPreContact directly. 
PiperOrigin-RevId: 933068825
Change-Id: I328d64bb05270067ce146908b0df3ca83f10ed9b
 2026-06-16 07:04:16 -07:00
Yuval Tassa 2810edd27a Rename mjtnum.h to mjtype.h, move enum types to mjtype.h 
PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
 2026-05-21 06:43:29 -07:00
Kyle Bayes 7174d33f08 Introduce mjPreContact, a minimal struct passed into the collision functions. 
PiperOrigin-RevId: 918533795
Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
 2026-05-20 10:47:46 -07:00
Kyle Bayes 88ba8ffdbc Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin. 
PiperOrigin-RevId: 883225786
Change-Id: I5fecaa1d575b340a6510212db7b3e7db48f361cc
 2026-03-13 10:21:53 -07:00
Alessio Quaglino bf74d01d93 Add collisions between flexes and SDF geoms. 
The flex-SDF algorithm uses the same logic as mesh-SDF. Previous to this change, the flex was instead colliding with the convex hull of the mesh generated automatically with marching cubes from the SDF.

PiperOrigin-RevId: 876420302
Change-Id: I3bf6552b6b8e108ba4c4209bbcf10fe5f2b2fd90
 2026-02-27 14:35:27 -08:00
Alessio Quaglino 8a7c42c747 Add SDF functions to public API. 
PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
 2025-05-12 10:53:39 -07:00
Alessio Quaglino d070b1893e Improved SDF objective function. 
For two colliding SDFs `A` and `B`, the function is `(A+B)+abs(max(A,B))`. This can also be written as `clearance + abs(intersection)`. This function has the following properties:

- On the penetrating surface, it is equal to `A+B`, i.e. the clearance field which is the penetration depth.
- The object boundary is a set of local minima in 3D space, since `abs(max(A, B))>0` away from the surface.
- Along the penetrating surface, the maximum penetration is a local minimum of the clearance since this field is orthogonal to the midsurface field `A-B`, which acts as a support plane for the contact.

[Level sets of the improved function for two colliding circles](https://www.wolframalpha.com/input?i=plot+sqrt%28x%5E2%2By%5E2%29-1+%2B+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1+%2B+max%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+-+min%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+).

PiperOrigin-RevId: 585106580
Change-Id: I5b18a1ef262ceb0a1ab8abcad8acfd6dc1992e2c
 2023-11-24 09:07:17 -08:00
Alessio Quaglino dbf44fe2b4 New SDF objective function. 
This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).

The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29)

PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
 2023-11-20 05:06:33 -08:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries. 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
 2023-08-16 09:15:23 -07:00