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Implement initial GJK algorithm.

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PiperOrigin-RevId: 645368315
Change-Id: I40a1e1023fd9f14a59e11a9dcc6ac22df241b6ae
This commit is contained in:
Kyle Bayes
2024-06-21 06:16:40 -07:00
committed by Copybara-Service
parent b0b934cb5f
commit 1e8454820d
5 changed files with 620 additions and 0 deletions
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test/engine/CMakeLists.txt
+3
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@@ -21,6 +21,9 @@ target_link_libraries(engine_collision_convex_test fixture gmock)
mujoco_test(engine_collision_driver_test)
target_link_libraries(engine_collision_driver_test fixture gmock)
mujoco_test(engine_collision_gjk_test)
target_link_libraries(engine_collision_gjk_test fixture gmock ccd)
mujoco_test(engine_core_constraint_test)
target_link_libraries(engine_core_constraint_test fixture gmock)