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Make mj_gjkPenetration have the same signature as LibCCD penetration functions.

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PiperOrigin-RevId: 661256774
Change-Id: If0ae95e27900a9d7b9c63f189837f1315fbbb987
This commit is contained in:
Kyle Bayes
2024-08-09 07:39:07 -07:00
committed by Copybara-Service
parent 35a834f0ba
commit 1c9d609b5b
4 changed files with 272 additions and 145 deletions
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test/engine/engine_collision_convex_test.cc
+2 -2
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@@ -65,12 +65,12 @@ TEST_F(MjcConvexTest, CylinderBox) {
// with multiCCD enabled, should find 5 contacts
mj_forward(model, data);
ASSERT_EQ(data->ncon, 5);
EXPECT_EQ(data->ncon, 5);
// with multiCCD disabled, should find 1 contact
model->opt.enableflags &= ~mjENBL_MULTICCD;
mj_forward(model, data);
ASSERT_EQ(data->ncon, 1);
EXPECT_EQ(data->ncon, 1);
mj_deleteData(data);
mj_deleteModel(model);