chenlin/Mujoco_WASM
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b5f9628dd7a7d149614b9d309c702d705331d349
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2 Commits

Author SHA1 Message Date
Alessio Quaglino b5f9628dd7 Reduce mjMAXCONPAIR to 50. 
Use only the first `mjMAXCONPAIR` contacts in SDF-mesh collisions after sorting them using the penetration depth.

PiperOrigin-RevId: 558176217
Change-Id: Ia1ee12bd5ceb81e4c52f143831ad00426e8cf174
 2023-08-18 10:02:44 -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