Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
50 lines
1.8 KiB
C
50 lines
1.8 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// collision function pointers and max contact pairs
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MJAPI extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES];
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// collision detection entry point
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MJAPI void mj_collision(const mjModel* m, mjData* d);
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// broad phase collistion detection; return list of body pairs for narrow phase
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int mj_broadphase(const mjModel* m, mjData* d, int* bodypair, int maxpair);
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// test two geoms for collision, apply filters, add to contact list
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// flg_user disables filters and uses usermargin
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void mj_collideGeoms(const mjModel* m, mjData* d,
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int g1, int g2, int flg_user, mjtNum usermargin);
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// number of possible collisions based on fitlers and geom types
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int mj_contactFilter(int type1, int contype1, int conaffinity1, int weldbody1, int weldparent1,
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int type2, int contype2, int conaffinity2, int weldbody2, int weldparent2,
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int filterparent);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_
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