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

PiperOrigin-RevId: 663859009 Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
2024-08-16 14:07:53 -07:00
parent 390bce2352
commit 0bffd744f9
13 changed files with 62 additions and 39 deletions
@@ -75,8 +75,9 @@ typedef enum mjtEnableBit_ {      // enable optional feature bitflags
                                  // experimental features:
  mjENBL_MULTICCD     = 1<<4,     // multi-point convex collision detection
  mjENBL_ISLAND       = 1<<5,     // constraint island discovery
+  mjENBL_NATIVECCD    = 1<<6,     // native convex collision detection

-  mjNENABLE           = 6         // number of enable flags
+  mjNENABLE           = 7         // number of enable flags
 } mjtEnableBit;