Saran Tunyasuvunakool
5a21e202ed
This results in approximately 4-5% speedup in collision detection for particle.xml. PiperOrigin-RevId: 562526634 Change-Id: Ia6487b1908618064d858bac484fe6861ed37a402
56 lines
1.9 KiB
C
56 lines
1.9 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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struct mjCollisionTree_ {
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int node1;
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int node2;
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};
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typedef struct mjCollisionTree_ mjCollisionTree;
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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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// applies Separating Axis Theorem for rotated AABBs
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MJAPI int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
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const mjtNum xpos1[3], const mjtNum xmat1[9],
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const mjtNum xpos2[3], const mjtNum xmat2[9],
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mjtNum product[36], mjtNum offset[12], mjtByte* initialize);
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// broad phase collision 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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// number of possible collisions based on filters and geom types
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int mj_contactFilter(int contype1, int conaffinity1,
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int contype2, int conaffinity2);
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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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