Support arbitrary large meshes in multiccd by reusing EPA memory.

PiperOrigin-RevId: 947709621 Change-Id: Idc4f168434b9d0a8555c0bed989adb0e99770a78
2026-07-14 08:47:52 -07:00
parent 0afafacfc5
commit 2444defc63
18 changed files with 680 additions and 87 deletions
@@ -331,6 +331,8 @@ 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
@@ -246,6 +246,8 @@
    X( nemax )              \
    X( njmax )              \
    X( nconmax )            \
+    X( npolygonmax )        \
+    X( nmeshdegmax )        \
    X( nuserdata )          \
    X( nsensordata )        \
    X( npluginstate )       \