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
@@ -167,7 +167,8 @@ public enum mjtEnableBit : int{
  mjENBL_INVDISCRETE = 8,
  mjENBL_MULTICCD = 16,
  mjENBL_ISLAND = 32,
-  mjNENABLE = 6,
+  mjENBL_NATIVECCD = 64,
+  mjNENABLE = 7,
 }
 public enum mjtJoint : int{
  mjJNT_FREE = 0,