Support arbitrary large meshes in multiccd by reusing EPA memory.

PiperOrigin-RevId: 947709621
Change-Id: Idc4f168434b9d0a8555c0bed989adb0e99770a78

doc/changelog.rst

@@ -21,6 +21,7 @@ General
   so assets contained in it failed to load. Failures in the ``mjz`` decoder now emit a warning with the underlying
   error instead of the generic "could not decode content" message.
 - Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in :ref:`mjpResourceProvider`.
+- Added support for :ref:`multiccd <coMultiCCD>` with arbitrarily large meshes.
 
 .. admonition:: Breaking API changes
    :class: attention

doc/includes/references.h

@@ -643,6 +643,8 @@ typedef struct mjModel_ {
   mjtSize nemax;                  // number of potential equality-constraint rows
   mjtSize njmax;                  // number of available rows in constraint Jacobian (legacy)
   mjtSize nconmax;                // number of potential contacts in contact list (legacy)
+  mjtSize npolygonmax;            // maximum number of vertices in a mesh polygon
+  mjtSize nmeshdegmax;            // maximum number of edges adjacent to a mesh vertex
   mjtSize nuserdata;              // number of mjtNums reserved for the user
   mjtSize nsensordata;            // number of mjtNums in sensor data vector
   mjtSize npluginstate;           // number of mjtNums in plugin state vector