Yuval Tassa
bce2043762
PiperOrigin-RevId: 543789453 Change-Id: I929c68b9100a093738c0de6c0965dab4ded1084b
67 lines
2.8 KiB
C
67 lines
2.8 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_PRIMITIVE_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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// define and extract geom info
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#define mjGETINFO \
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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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const mjtNum* pos2 = d->geom_xpos + 3*g2; \
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const mjtNum* mat2 = d->geom_xmat + 9*g2; \
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const mjtNum* size2 = m->geom_size + 3*g2; \
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(void) size1; (void) size2; // size1 and size2 are sometimes unused
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#ifdef __cplusplus
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extern "C" {
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#endif
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// plane collisions
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int mjc_PlaneSphere (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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int mjc_PlaneCapsule (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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int mjc_PlaneCylinder (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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int mjc_PlaneBox (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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// sphere and capsule collisions
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int mjc_SphereSphere (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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int mjc_SphereCapsule (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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int mjc_SphereCylinder (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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int mjc_CapsuleCapsule (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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// box collisions: from boxcollisions.c
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int mjc_CapsuleBox (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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int mjc_SphereBox (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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int mjc_BoxBox (const mjModel* m, const mjData* d,
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mjContact* con, int g1, int g2, mjtNum margin);
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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_PRIMITIVE_H_
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