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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 | // Copyright 2024 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_GJK_H_
#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_GJK_H_
#include <float.h>
#include <stddef.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include "engine/engine_collision_convex.h"
#ifdef __cplusplus
extern "C" {
#endif
// numerical max limit
#ifndef mjUSESINGLE
#define mjMAX_LIMIT DBL_MAX
#else
#define mjMAX_LIMIT FLT_MAX
#endif
// max number of EPA iterations
#define mjMAX_EPA_ITERATIONS 170
// tolerance for normal alignment of two faces (cosine of 1.6e-3)
#define mjFACE_TOL 0.99999872
// tolerance for edge-face alignment (sine of 1.6e-3)
#define mjEDGE_TOL 0.00159999931
// max number of supported vertices in a polygon face of a mesh
#define mjMAX_POLYVERT 150
// Status of an EPA run
typedef enum {
mjEPA_NOCONTACT = -1,
mjEPA_SUCCESS = 0,
mjEPA_P2_INVALID_FACES,
mjEPA_P2_NONCONVEX,
mjEPA_P2_ORIGIN_ON_FACE,
mjEPA_P3_BAD_NORMAL,
mjEPA_P3_INVALID_V4,
mjEPA_P3_INVALID_V5,
mjEPA_P3_MISSING_ORIGIN,
mjEPA_P3_ORIGIN_ON_FACE,
mjEPA_P4_MISSING_ORIGIN,
} mjEPAStatus;
// vertex in a polytope
typedef struct {
mjtNum vert[3]; // v1 - v2; vertex in Minkowski sum making up polytope
mjtNum vert1[3]; // vertex of polytope in obj1
mjtNum vert2[3]; // vertex of polytope in obj2
int index1; // vertex index in mesh 1
int index2; // vertex index in mesh 2
} Vertex;
// configuration for convex collision detection
typedef struct {
int max_iterations; // the maximum number of iterations for GJK and EPA
mjtNum tolerance; // tolerance used by GJK and EPA
int max_contacts; // set to max number of contact points to recover
mjtNum dist_cutoff; // set to max geom distance to recover
void* context; // opaque data pointer passed to callbacks
// callback to allocate memory for polytope (only needed for penetration recovery)
void*(*alloc)(void* context, size_t nbytes);
// callback to free memory from alloc callback
void(*free)(void* context, void* buffer);
} mjCCDConfig;
// data produced from running GJK and EPA
typedef struct {
// geom distance information
mjtNum dist; // distance between geoms
mjtNum x1[3 * mjMAXCONPAIR]; // witness points for geom 1
mjtNum x2[3 * mjMAXCONPAIR]; // witness points for geom 2
int nx; // number of witness points
// configurations used
int max_iterations; // the maximum number of iterations for GJK and EPA
mjtNum tolerance; // tolerance used by GJK and EPA
int max_contacts; // set to max number of contact points to recover
mjtNum dist_cutoff; // set to max geom distance to recover
// statistics for debugging purposes
int gjk_iterations; // number of iterations that GJK ran
int epa_iterations; // number of iterations that EPA ran (zero if EPA did not run)
mjEPAStatus epa_status; // status of the EPA run
Vertex simplex[4];
int nsimplex;
} mjCCDStatus;
// run general convex collision detection, returns positive for distance, negative for penetration
MJAPI mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2);
#ifdef __cplusplus
}
#endif
#endif // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_GJK_H_
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