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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_support.c
+3 -1
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@@ -525,9 +525,11 @@ static mjtNum mj_geomDistanceCCD(const mjModel* m, mjData* d, int g1, int g2,
// set config
config.max_iterations = m->opt.ccd_iterations;
config.tolerance = m->opt.ccd_tolerance;
config.npolygonmax = 0;
config.nmeshdegmax = 0;
config.max_contacts = 1; // want contacts
config.dist_cutoff = distmax; // want geom distances
config.buffer = mj_stackAllocByte(d, mjc_ccdSize(config.max_iterations), sizeof(mjtNum));
config.buffer = mj_stackAllocByte(d, mjc_ccdSize(0, 0, config.max_iterations), sizeof(mjtNum));
mjCCDObj obj1, obj2;
mjc_initCCDObj(&obj1, m, d, g1, 0);