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[Draft] Add efc_address to Contact in MJX #1561

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[Draft] Add efc_address to Contact in MJX #1561

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8 changes: 8 additions & 0 deletions mjx/mujoco/mjx/_src/collision_driver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
from mujoco.mjx._src.collision_primitive import plane_sphere
from mujoco.mjx._src.collision_primitive import sphere_capsule
from mujoco.mjx._src.collision_primitive import sphere_sphere
from mujoco.mjx._src.constraint import count_constraints
from mujoco.mjx._src.types import Contact
from mujoco.mjx._src.types import Data
from mujoco.mjx._src.types import DisableBit
Expand Down Expand Up @@ -328,6 +329,12 @@ def _collide_geoms(
(g1.geom_id, g2.geom_id, params),
)

efc_active = (d.efc_J != 0).any(axis=1)
nefc = efc_active.sum()
_, _, _, nc = count_constraints(m, d)
nc = efc_active[-nc:].sum()
efc_start = nefc - nc

con = Contact(
dist=dist,
pos=pos,
Expand All @@ -339,6 +346,7 @@ def _collide_geoms(
solimp=params.solimp,
geom1=geom1,
geom2=geom2,
efc_address=jp.arange(fn.ncon) * 4 + efc_start,
)
return con

Expand Down
5 changes: 4 additions & 1 deletion mjx/mujoco/mjx/_src/types.py
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Original file line number Diff line number Diff line change
Expand Up @@ -596,6 +596,7 @@ class Contact(PyTreeNode):
solimp: constraint solver impedance (mjNIMP,)
geom1: id of geom 1
geom2: id of geom 2
efc_address: address in efc
"""
dist: jax.Array
pos: jax.Array
Expand All @@ -608,7 +609,8 @@ class Contact(PyTreeNode):
# unsupported: mu, H, dim
geom1: jax.Array
geom2: jax.Array
# unsupported: efc_address, exclude
efc_address: jax.Array
# unsupported: exclude

@classmethod
def zero(cls, ncon: int = 0) -> 'Contact':
Expand All @@ -624,6 +626,7 @@ def zero(cls, ncon: int = 0) -> 'Contact':
solimp=jp.zeros((ncon, mujoco.mjNIMP,)),
geom1=jp.zeros(ncon, dtype=int),
geom2=jp.zeros(ncon, dtype=int),
efc_address=jp.zeros(ncon, dtype=int),
)


Expand Down