Kyle Bayes
3325971840
PiperOrigin-RevId: 903135055 Change-Id: I5f103c7d51f97e327c923bc567002ace835f5517
88 lines
3.4 KiB
C
88 lines
3.4 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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#include <mujoco/mjtnum.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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// return the maximum number of contacts that can be generated between two geoms
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// if has_margin is -1, then the margin is pulled from the model, otherwise if has_margin > 0
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// indicates that the geoms have a positive margin
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MJAPI int mj_maxContact(const mjModel* m, int g1, int g2, int has_margin);
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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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// apply the 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], mjtNum margin,
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mjtNum product[36], mjtNum offset[12], mjtByte* initialize);
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// is element active (for collisions)
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MJAPI int mj_isElemActive(const mjModel* m, int f, int e);
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// checks if pair is already present in pair_geom and calls narrow phase
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void mj_collideGeomPair(const mjModel* m, mjData* d, int g1, int g2, int merged,
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int startadr, int pairadr);
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// binary search between two bodyflex trees
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void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
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int merged, int startadr, int pairadr);
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// broad phase collision detection; return list of bodyflex pairs
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int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair);
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// test two geoms for collision, apply filters, add to contact list
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void mj_collideGeoms(const mjModel* m, mjData* d, int ipair, int g1, int g2);
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// test a plane geom and a flex for collision, add to contact list
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void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f);
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// test an SDF geom and a flex for collision, add to contact list
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void mj_collideSdfFlex(const mjModel* m, mjData* d, int g, int f);
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// test for internal flex collisions, add to contact list
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void mj_collideFlexInternal(const mjModel* m, mjData* d, int f);
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// test active element self-collisions with SAP
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void mj_collideFlexSAP(const mjModel* m, mjData* d, int f);
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// test a geom and an elem for collision, add to contact list
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void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e);
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// test two elems for collision, add to contact list
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void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2);
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// test element and vertex for collision, add to contact list
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void mj_collideElemVert(const mjModel* m, mjData* d, int f, int e, int v);
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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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