 Kyle Bayes
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d9b677b49b
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Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op.
PiperOrigin-RevId: 933105275
Change-Id: Id862b01774df63dcdb42629a5b7dd12019f12ffd
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2026-06-16 08:33:09 -07:00 |
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Yuval Tassa
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2810edd27a
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Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
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2026-05-21 06:43:29 -07:00 |
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Kyle Bayes
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ad96acfb16
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Add internal mj_narrowphase for batch processing of potential geom pair collisions.
PiperOrigin-RevId: 918988042
Change-Id: I871dcdf42f8105e2c8a57e275a3775ea46c69e65
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2026-05-21 05:16:35 -07:00 |
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Kyle Bayes
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7174d33f08
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Introduce mjPreContact, a minimal struct passed into the collision functions.
PiperOrigin-RevId: 918533795
Change-Id: I2b5af05c1479b25d5c2cfdc690321a26fce6ede6
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2026-05-20 10:47:46 -07:00 |
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Kyle Bayes
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5c0de1f84d
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Remove model and data from ccd object. Each geom gets a copy of pos and mat, which is editable without modifying mjData.
PiperOrigin-RevId: 888028695
Change-Id: Ic9bbea4bcd7c2dbe62326798eab73d14da0aaa13
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2026-03-23 04:51:53 -07:00 |
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Kyle Bayes
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88ba8ffdbc
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Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.
PiperOrigin-RevId: 883225786
Change-Id: I5fecaa1d575b340a6510212db7b3e7db48f361cc
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2026-03-13 10:21:53 -07:00 |
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Kyle Bayes
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ae24034f24
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Refactor hfield-convex collision code. This should be a no-op.
PiperOrigin-RevId: 837045492
Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
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2025-11-26 03:26:56 -08:00 |
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Kyle Bayes
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606f00f802
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Remove contact pruning with box-box collisions in nativeccd and add benchmarks.
PiperOrigin-RevId: 744732382
Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
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2025-04-07 08:34:04 -07:00 |
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Kyle Bayes
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e3b9538d92
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Add saving the indices of mesh vertices with the support points in nativeccd.
PiperOrigin-RevId: 725660975
Change-Id: I036882a5bde5d009bfa6e66b6a10f6cfb1a78292
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2025-02-11 09:28:49 -08:00 |
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Kyle Bayes
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a364308d5a
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Use GJK to recover contact points for sphere and capsule geoms in nativeccd.
PiperOrigin-RevId: 704727907
Change-Id: Iff641b6a32637c48e9892dbaa60826617c54ed06
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2024-12-10 08:53:27 -08:00 |
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Kyle Bayes
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0e8cca93e1
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Refactor nativeccd interface.
- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).
PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
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2024-11-13 10:28:45 -08:00 |
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Kyle Bayes
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70d6655434
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Add faster support functions for NativeCCD.
PiperOrigin-RevId: 684809392
Change-Id: I5125d4bb74c167d370aa919befba9d356c7162da
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2024-10-11 05:59:30 -07:00 |
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Kyle Bayes
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7a92423cf2
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Add height fields to list of discrete objects in NativeCCD.
PiperOrigin-RevId: 676452215
Change-Id: I5d6a0d1e26ee852c774b44f550c1d0531b7a269b
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2024-09-19 09:48:41 -07:00 |
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Kyle Bayes
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4fc6fb179b
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Remove libccd compatibility layer from native ccd.
PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
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2024-09-06 06:56:01 -07:00 |
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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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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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b0b934cb5f
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Separate CCD code from support/center logic.
PiperOrigin-RevId: 645355865
Change-Id: I71303ffd7bbee37c5e8ac7e770f810768780c2e6
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2024-06-21 05:17:57 -07:00 |
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Alessio Quaglino
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5a70ad08ab
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Add Flex component.
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
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2023-10-12 10:49:35 +01:00 |
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Yuval Tassa
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bce2043762
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Tighten const qualifiers in collision functions.
PiperOrigin-RevId: 543789453
Change-Id: I929c68b9100a093738c0de6c0965dab4ded1084b
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2023-06-27 10:44:58 -07:00 |
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Saran Tunyasuvunakool
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1913a02b40
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Initial open sourcing of MuJoCo.
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
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2022-05-23 01:08:49 -07:00 |
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