 Kyle Bayes
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64575f399b
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Add heightfield collision support for GJK + EPA implementation.
PiperOrigin-RevId: 663321119
Change-Id: I01a85ae15386c997bff4e9c6d71555a4380dfffe
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2024-08-15 08:50:09 -07:00 |
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Kyle Bayes
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7f09a7d8c6
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Fix bug in S2D and improve readability of GJK + EPA code.
PiperOrigin-RevId: 663261102
Change-Id: Ibb1d801078cc02bc7ccec246be6dc50fa4f2be18
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2024-08-15 04:35:15 -07:00 |
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Kyle Bayes
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ebd8615554
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Internal change.
PiperOrigin-RevId: 661267364
Change-Id: If2249eb1658c5b877a43a4d3c29ebf88d2a42d5a
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2024-08-09 08:16:41 -07:00 |
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Kyle Bayes
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1c9d609b5b
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Make mj_gjkPenetration have the same signature as LibCCD penetration functions.
PiperOrigin-RevId: 661256774
Change-Id: If0ae95e27900a9d7b9c63f189837f1315fbbb987
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2024-08-09 07:40:17 -07:00 |
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Kyle Bayes
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a1d9b47e2f
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Initial (unoptimized) implementation of EPA.
PiperOrigin-RevId: 659938320
Change-Id: I72c6c6bd7504bce36e4788d90b06b2cb3849b4db
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2024-08-06 06:53:55 -07:00 |
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Kyle Bayes
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5e39fc0564
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Improvements to GJK implementation:
- Fix various bugs
- Improve readability
- Add support for recovering witness points.
PiperOrigin-RevId: 646515019
Change-Id: I295cf90d885e32013e595ea7aad07ed6c1869239
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2024-06-25 10:00:58 -07:00 |
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Kyle Bayes
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1e8454820d
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Implement initial GJK algorithm.
PiperOrigin-RevId: 645368315
Change-Id: I40a1e1023fd9f14a59e11a9dcc6ac22df241b6ae
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2024-06-21 06:17:43 -07:00 |
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