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
@@ -1321,6 +1321,17 @@ static void setSpring(mjModel* m, mjData* d) {

 // entry point: set all remaining constant fields of mjModel, except for lengthrange
 void mj_setConst(mjModel* m, mjData* d) {
+  // compute npolygonmax and nmeshdegmax
+  m->npolygonmax = 0;
+  for (int i=0; i < m->nmeshpoly; i++) {
+    m->npolygonmax = mjMAX(m->npolygonmax, m->mesh_polyvertnum[i]);
+  }
+
+  m->nmeshdegmax = 0;
+  for (int i=0; i < m->nmeshvert; i++) {
+    m->nmeshdegmax = mjMAX(m->nmeshdegmax, m->mesh_polymapnum[i]);
+  }
+
  // recompute sameframe flags from current model geometry
  setSameframe(m);