Kyle Bayes
5e39fc0564
- Fix various bugs - Improve readability - Add support for recovering witness points. PiperOrigin-RevId: 646515019 Change-Id: I295cf90d885e32013e595ea7aad07ed6c1869239
42 lines
1.3 KiB
C
42 lines
1.3 KiB
C
// Copyright 2024 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_GJK_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_GJK_H_
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#include <mujoco/mjexport.h>
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#include <mujoco/mjtnum.h>
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#include "engine/engine_collision_convex.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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// internal configuration for convex collision detection
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struct _mjCCDConfig {
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int max_iterations;
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mjtNum tolerance;
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};
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typedef struct _mjCCDConfig mjCCDConfig;
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// Returns the distance between the two objects. The witness points are
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// recoverable from x_0 in obj1 and obj2.
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MJAPI mjtNum mj_gjk(const mjCCDConfig* config, mjCCDObj* obj1, mjCCDObj* obj2);
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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_GJK_H_
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