Alessio Quaglino 5d46c39529 Increased SdfLib bounding box by 10% to prevent querying outside it during collision detection. ...

In case a query outside is performed, add SDF gradient computation using finite differences.

For SDFs generated from meshes, when the query point lies outside of the bounding box, the gradient provided by SdfLib ignores the SDF and is equivalent to the gradient of the distance from the bounding box, causing local minima in the contact point optimization. This CL increased the size of the bounding boxes and replaces the SdfLib gradient with a finite difference approximation of the gradient if a point lies outside it.

PiperOrigin-RevId: 597839637
Change-Id: I79dfddbe25288eca7eb235db51781fc2bb2c3c5f

2024-01-12 07:54:10 -08:00

..

actuator

Fix the table formatting in plugin/actuator/README.md.

2023-12-12 03:42:45 -08:00

elasticity

Fix typo in plugin docs.

2024-01-09 04:00:29 -08:00

sdf

Increased SdfLib bounding box by 10% to prevent querying outside it during collision detection.

2024-01-12 07:54:10 -08:00

sensor

Remove mjMARKSTACK and mjFREESTACK macros.

2023-09-05 11:41:43 -07:00