mujoco

// Copyright 2021 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_DRIVER_H_
#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_

#include <mujoco/mjdata.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtype.h>

#ifdef __cplusplus
extern "C" {
#endif

// collision function pointers and max contact pairs
MJAPI extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES];

// return the maximum number of contacts that can be generated between two geoms
// if has_margin is -1, then the margin is pulled from the model, otherwise if has_margin > 0
// indicates that the geoms have a positive margin
MJAPI int mj_maxContact(const mjModel* m, int g1, int g2, int has_margin);

// collision detection entry point
MJAPI void mj_collision(const mjModel* m, mjData* d);

// apply the Separating Axis Theorem for rotated AABBs
MJAPI int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
                        const mjtNum xpos1[3], const mjtNum xmat1[9],
                        const mjtNum xpos2[3], const mjtNum xmat2[9], mjtNum margin,
                        mjtNum product[36], mjtNum offset[12], mjtBool* initialize);

// is element active (for collisions)
MJAPI int mj_isElemActive(const mjModel* m, int f, int e);

#ifdef __cplusplus
}
#endif

#endif  // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_