Kyle Bayes
d9b677b49b
PiperOrigin-RevId: 933105275 Change-Id: Id862b01774df63dcdb42629a5b7dd12019f12ffd
78 lines
3.8 KiB
C
78 lines
3.8 KiB
C
// Copyright 2021 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
|
|
#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
|
|
|
|
#include <mujoco/mjdata.h>
|
|
#include <mujoco/mjexport.h>
|
|
#include <mujoco/mjmodel.h>
|
|
#include <mujoco/mjtype.h>
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
// raw collision functions (called by mjc_XXX)
|
|
int mjraw_SphereCapsule(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
|
|
const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
|
|
const mjtNum* size2);
|
|
int mjraw_CapsuleCapsule(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
|
|
const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
|
|
const mjtNum* size2);
|
|
int mjraw_CapsuleBox(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
|
|
const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
|
|
const mjtNum* size2);
|
|
int mjraw_SphereTriangle(mjPreContact* con, mjtNum margin, const mjtNum* s, mjtNum rs,
|
|
const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
|
|
int mjraw_BoxTriangle(mjPreContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
|
|
const mjtNum* size, const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
|
|
mjtNum rt);
|
|
int mjraw_CapsuleTriangle(mjPreContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
|
|
const mjtNum* size, const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
|
|
mjtNum rt);
|
|
|
|
// plane collisions
|
|
MJAPI int mjc_PlaneSphere(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
MJAPI int mjc_PlaneCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
MJAPI int mjc_PlaneCylinder(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
MJAPI int mjc_PlaneBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
|
|
// sphere and capsule collisions
|
|
MJAPI int mjc_SphereSphere(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
MJAPI int mjc_SphereCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
MJAPI int mjc_SphereCylinder(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
MJAPI int mjc_CapsuleCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
|
|
// box collisions: from engine_collision_box.c
|
|
MJAPI int mjc_CapsuleBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
MJAPI int mjc_SphereBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
MJAPI int mjc_BoxBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
|
|
mjtNum margin);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
#endif // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
|