Unity plug-in doesn’t support physics-free contact triggers

[erez-tom]

Unity offers the PhysX functionality of triggers that send an event when some collider enters their volume. MuJoCo’s API doesn’t have easily-called built-in support for collision detection without contact, so this functionality is not trivial to recreate. In order to achieve physics-free collision detection, the user would have to wrap MuJoCo's collision functions with an API similar to Unity's triggers. Since these functions, while fairly straightforward, are currently not documented or easily accessible, adding this functionality will be much easier after open sourcing.

If you need this functionality before open sourcing, please reach out here.