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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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src/engine/engine_support.c
+2 -1
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@@ -69,7 +69,8 @@ const char* mjENABLESTRING[mjNENABLE] = {
"Fwdinv",
"InvDiscrete",
"MultiCCD",
"Island"
"Island",
"NativeCCD"
};