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

introspect/enums.py

@@ -57,7 +57,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjENBL_INVDISCRETE', 8),
              ('mjENBL_MULTICCD', 16),
              ('mjENBL_ISLAND', 32),
-             ('mjNENABLE', 6),
+             ('mjENBL_NATIVECCD', 64),
+             ('mjNENABLE', 7),
          ]),
      )),
     ('mjtJoint',

introspect/enums_test.py

@@ -44,7 +44,8 @@ class EnumsTest(absltest.TestCase):
                                           ('mjENBL_INVDISCRETE', 1<<3),
                                           ('mjENBL_MULTICCD', 1<<4),
                                           ('mjENBL_ISLAND', 1<<5),
-                                          ('mjNENABLE', 6)))
+                                          ('mjENBL_NATIVECCD', 1<<6),
+                                          ('mjNENABLE', 7)))
 
   # values mostly increment by one with occasional overrides
   def test_mjtGeom(self):  # pylint: disable=invalid-name