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
@@ -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',