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Enable distance sensing with SDF geoms #2218

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Enable distance sensing with SDF geoms #2218

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10 changes: 5 additions & 5 deletions src/engine/engine_collision_sdf.c
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Original file line number Diff line number Diff line change
Expand Up @@ -334,9 +334,9 @@ static int isknown(const mjtNum* points, const mjtNum x[3], int cnt) {
// adds candidate point to result
static int addContact(mjtNum* points, mjContact* con, const mjtNum x[3],
const mjtNum pos2[3], const mjtNum quat2[4], mjtNum dist,
int cnt, const mjModel* m, const mjSDF* s, mjData* d) {
int cnt, const mjModel* m, const mjSDF* s, mjData* d, mjtNum margin) {
// check if there is a collision
if (dist > 0 || isknown(points, x, cnt)) {
if (dist > margin || isknown(points, x, cnt)) {
return cnt;
} else {
mju_copy3(points+3*cnt, x);
Expand Down Expand Up @@ -652,7 +652,7 @@ int mjc_MeshSDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g
// add only the first mjMAXCONPAIR pairs
for (int i=0; i < mju_min(ncandidate, mjMAXCONPAIR); i++) {
cnt = addContact(points, con, candidate + 3*index[i], pos2true, sdf_quat,
dist[index[i]], cnt, m, &sdf, (mjData*)d);
dist[index[i]], cnt, m, &sdf, (mjData*)d, margin);
}

return cnt;
Expand Down Expand Up @@ -717,7 +717,7 @@ int mjc_SDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, m
}

// no intersection if max < min
if (aabb[3] < aabb[0] || aabb[4] < aabb[1] || aabb[5] < aabb[2]) {
if (aabb[3] + margin < aabb[0] || aabb[4] + margin < aabb[1] || aabb[5] + margin < aabb[2]) {
return cnt;
}

Expand Down Expand Up @@ -783,7 +783,7 @@ int mjc_SDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, m

// contact point and normal - we use the midsurface where SDF1=SDF2 as zero level set
sdf.type = mjSDFTYPE_MIDSURFACE;
cnt = addContact(contacts, con, x, pos2true, squat2, dist, cnt, m, &sdf, (mjData*)d);
cnt = addContact(contacts, con, x, pos2true, squat2, dist, cnt, m, &sdf, (mjData*)d, margin);

// SHOULD NOT OCCUR
if (cnt > mjMAXCONPAIR) {
Expand Down