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Support arbitrary large meshes in multiccd by reusing EPA memory.

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PiperOrigin-RevId: 947709621
Change-Id: Idc4f168434b9d0a8555c0bed989adb0e99770a78
This commit is contained in:
Kyle Bayes
2026-07-14 08:47:52 -07:00
committed by Copybara-Service
parent 0afafacfc5
commit 2444defc63
18 changed files with 680 additions and 87 deletions
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src/engine/engine_collision_convex.c
+6 -1
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@@ -102,11 +102,16 @@ static int mjc_penetration(const mjModel* m, mjData* d, mjCCDObj* obj1, mjCCDObj
config.tolerance = m->opt.ccd_tolerance;
config.max_contacts = ncon;
config.dist_cutoff = 0; // no geom distances needed
config.npolygonmax = m->npolygonmax;
config.nmeshdegmax = m->nmeshdegmax;
if (buffer) {
config.buffer = buffer;
} else {
mj_markStack(d);
config.buffer = mj_stackAllocByte(d, mjc_ccdSize(config.max_iterations), sizeof(mjtNum));
int npolygonmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->npolygonmax;
int nmeshdegmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->nmeshdegmax;
config.buffer = mj_stackAllocByte(d, mjc_ccdSize(npolygonmax, nmeshdegmax,
config.max_iterations), sizeof(mjtNum));
}
if ((dist = mjc_ccd(&config, &status, obj1, obj2)) < 0) {