| // 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. | |
| extern "C" { | |
| // numerical max limit | |
| // max number of EPA iterations | |
| // tolerance for normal alignment of two faces (cosine of 1.6e-3) | |
| // tolerance for edge-face alignment (sine of 1.6e-3) | |
| // max number of supported vertices in a polygon face of a mesh | |
| // 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); | |
| } | |