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Support edge contacts with multiccd in nativeccd.

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PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
This commit is contained in:
Kyle Bayes
2025-02-24 09:47:50 -08:00
committed by Copybara-Service
parent a6f1dc5e9e
commit 024616345d
7 changed files with 861 additions and 49 deletions
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src/engine/engine_collision_gjk.h
+5 -2
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@@ -25,8 +25,11 @@
extern "C" {
#endif
// tolerance for considering two normals to be aligned
#define mjCOSINE_TOL 0.99999872
// tolerance for normal alignment of two faces (cosine of 1.6e-3)
#define mjFACE_TOL 0.99999872
// tolerance for edge-face alignment (sine of 1.6e-3)
#define mjEDGE_TOL 0.00159999931
// max number of supported vertices in a polygon face of a mesh
#define mjMAX_POLYVERT 150