Support arbitrary large meshes in multiccd by reusing EPA memory.

PiperOrigin-RevId: 947709621
Change-Id: Idc4f168434b9d0a8555c0bed989adb0e99770a78

src/engine/engine_collision_gjk.h

@@ -19,7 +19,6 @@
 #include <stddef.h>
 
 #include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
 #include <mujoco/mjtype.h>
 
 #include "engine/engine_collision_convex.h"
@@ -43,8 +42,6 @@ extern "C" {
   #define mjEDGE_TOL 0.00159999931
 #endif
 
-// max number of supported vertices in a polygon face of a mesh
-#define mjMAX_POLYVERT 150
 
 // Status of an EPA run
 typedef enum {
@@ -77,6 +74,8 @@ typedef struct {
   int max_contacts;    // set to max number of contact points to recover
   mjtNum dist_cutoff;  // set to max geom distance to recover
   void* buffer;        // buffer memory for polytope (should be sized given by mjc_ccdSize)
+  int npolygonmax;     // max number of vertices in a mesh polygon
+  int nmeshdegmax;     // max number of edges adjacent to a mesh vertex
 } mjCCDConfig;
 
 // data produced from running GJK and EPA
@@ -102,7 +101,7 @@ typedef struct {
 } mjCCDStatus;
 
 // return size in bytes of the buffer needed for mjc_ccd for a given number of iterations
-MJAPI size_t mjc_ccdSize(int iterations);
+MJAPI size_t mjc_ccdSize(int npolygonmax, int nmeshdegmax, int iterations);
 
 // run general convex collision detection, returns positive for distance, negative for penetration
 MJAPI mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2);