Kyle Bayes
88ba8ffdbc
PiperOrigin-RevId: 883225786 Change-Id: I5fecaa1d575b340a6510212db7b3e7db48f361cc
89 lines
4.2 KiB
C
89 lines
4.2 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/mjexport.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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// raw collision functions (called by mjc_XXX)
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int mjraw_SphereCapsule (mjContact* con, mjtNum margin,
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const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
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const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
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int mjraw_CapsuleCapsule(mjContact* con, mjtNum margin,
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const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
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const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
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int mjraw_CapsuleBox (mjContact* con, mjtNum margin,
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const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
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const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
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int mjraw_SphereTriangle(mjContact* con, mjtNum margin,
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const mjtNum* s, mjtNum rs,
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const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
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int mjraw_BoxTriangle(mjContact* con, mjtNum margin, const mjtNum* pos,
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const mjtNum* mat, const mjtNum* size, const mjtNum* t1,
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const mjtNum* t2, const mjtNum* t3, mjtNum rt);
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int mjraw_CapsuleTriangle(mjContact* con, mjtNum margin, const mjtNum* pos,
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const mjtNum* mat, const mjtNum* size,
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const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
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mjtNum rt);
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// plane collisions
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MJAPI int mjc_PlaneSphere(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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MJAPI int mjc_PlaneCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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MJAPI int mjc_PlaneCylinder(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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MJAPI int mjc_PlaneBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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// sphere and capsule collisions
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MJAPI int mjc_SphereSphere(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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MJAPI int mjc_SphereCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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MJAPI int mjc_SphereCylinder(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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MJAPI int mjc_CapsuleCapsule(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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// box collisions: from engine_collision_box.c
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MJAPI int mjc_CapsuleBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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MJAPI int mjc_SphereBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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mjtNum margin);
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MJAPI int mjc_BoxBox(const mjModel* m, mjData* d, mjContact* con, int g1, int g2,
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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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