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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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python/mujoco/bindings_test.py
+1 -1
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@@ -870,7 +870,7 @@ Euler integrator, semi-implicit in velocity.
self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1<<0)
self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1<<1)
self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1<<2)
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 7)
self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)