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
@@ -1011,6 +1011,7 @@ void mjXWriter::Option(XMLElement* root) {
    WRITEENBL("invdiscrete",    mjENBL_INVDISCRETE)
    WRITEENBL("multiccd",       mjENBL_MULTICCD)
    WRITEENBL("island",         mjENBL_ISLAND)
+    WRITEENBL("nativeccd",      mjENBL_NATIVECCD)
 #undef WRITEENBL
  }