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Rework contact APIs - #144
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ratheron
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Thanks for reworking this. I think this makes more sense now. Besides a little variable rename, I have nothing to suggest. The MuJoCo code is just always hard to read imo.
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Should be good to go. |
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The contacts function now always emits an
(n_worlds, n_drones)boolean array. If users want to exclude collisions, they can build a new contact function that masks out specific pairs or whole geometries.For fine-grained access to what exactly collided with the drone, you either need to create a special mask (you can build multiple collision functions with different ignores and keep them around), or use the underlying APIs directly.
Closes #124.