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Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.

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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
This commit is contained in:
Kyle Bayes
2024-08-16 14:07:53 -07:00
committed by Copybara-Service
parent 390bce2352
commit 0bffd744f9
13 changed files with 62 additions and 39 deletions
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doc/XMLschema.rst
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@@ -39,7 +39,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`override<option-flag-override>` | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`multiccd<option-flag-multiccd>` | :ref:`island<option-flag-island>` | | | |
| | | | :ref:`multiccd<option-flag-multiccd>` | :ref:`island<option-flag-island>` | :ref:`nativeccd<option-flag-nativeccd>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |