Kyle Bayes
606f00f802
PiperOrigin-RevId: 744732382 Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
106 lines
3.6 KiB
C
106 lines
3.6 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_CONVEX_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONVEX_H_
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// libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
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// TODO(stunya): Remove once https://github.com/danfis/libccd/pull/77 is merged
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#ifdef _CRT_SECURE_NO_WARNINGS
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#undef _CRT_SECURE_NO_WARNINGS
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#endif
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#include <ccd/vec3.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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#define mjGETINFO_HFIELD \
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const mjtNum* pos1 = d->geom_xpos + 3*g1; \
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const mjtNum* mat1 = d->geom_xmat + 9*g1; \
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const mjtNum* size1 = m->geom_size + 3*g1; \
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mjtNum* pos2 = d->geom_xpos + 3*g2; \
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mjtNum* mat2 = d->geom_xmat + 9*g2;
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// mjc_ConvexHField modifies and then restores pos2 and mat2
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// minimum number of vertices to use hill-climbing in mesh support
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#define mjMESH_HILLCLIMB_MIN 10
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#ifdef __cplusplus
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extern "C" {
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#endif
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// internal object type for convex collision detection
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struct _mjCCDObj {
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const mjModel* model;
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const mjData* data;
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int geom;
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int geom_type;
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int vertindex;
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int meshindex;
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int flex;
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int elem;
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int vert;
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mjtNum margin;
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mjtNum rotate[4];
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void (*center)(mjtNum res[3], const struct _mjCCDObj* obj);
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void (*support)(mjtNum res[3], struct _mjCCDObj* obj, const mjtNum dir[3]);
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mjtNum prism[6][3]; // for hfield
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};
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typedef struct _mjCCDObj mjCCDObj;
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// initialize a CCD object
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MJAPI void mjc_initCCDObj(mjCCDObj* obj, const mjModel* m, const mjData* d, int g, mjtNum margin);
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// center function for convex collision algorithms
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MJAPI void mjc_center(mjtNum res[3], const mjCCDObj *obj);
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// libccd center function
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MJAPI void mjccd_center(const void *obj, ccd_vec3_t *center);
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// libccd support function
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MJAPI void mjccd_support(const void *obj, const ccd_vec3_t *dir, ccd_vec3_t *vec);
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// support function for point
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void mjc_pointSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
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// support function for line (capsule)
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void mjc_lineSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
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// pairwise geom collision functions using ccd
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int mjc_PlaneConvex(const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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int mjc_ConvexHField(const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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MJAPI int mjc_Convex(const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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// geom-elem or elem-elem or vert-elem collision function using ccd
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int mjc_ConvexElem (const mjModel* m, const mjData* d, mjContact* con,
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int g1, int f1, int e1, int v1, int f2, int e2, mjtNum margin);
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// heightfield-elem collision function using ccd
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int mjc_HFieldElem (const mjModel* m, const mjData* d, mjContact* con,
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int g, int f, int e, mjtNum margin);
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// fix contact frame normal
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void mjc_fixNormal(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2);
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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_CONVEX_H_
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