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
@@ -1363,6 +1363,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 type=ValueType(name='mjtSize'),
                 doc='number of potential contacts in contact list (legacy)',
             ),
+             StructFieldDecl(
+                 name='npolygonmax',
+                 type=ValueType(name='mjtSize'),
+                 doc='maximum number of vertices in a mesh polygon',
+             ),
+             StructFieldDecl(
+                 name='nmeshdegmax',
+                 type=ValueType(name='mjtSize'),
+                 doc='maximum number of edges adjacent to a mesh vertex',
+             ),
             StructFieldDecl(
                 name='nuserdata',
                 type=ValueType(name='mjtSize'),