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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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test/engine/engine_collision_gjk_test.cc
+4 -1
View File
@@ -125,11 +125,14 @@ int Penetration(mjCCDStatus& status, mjtNum& depth, std::vector<mjtNum>& dir,
mjCCDConfig config;
// set config
auto buffer = std::vector<std::byte>(mjc_ccdSize(kMaxIterations));
auto buffer = std::vector<std::byte>(
mjc_ccdSize(model->npolygonmax, model->nmeshdegmax, kMaxIterations));
config.max_iterations = kMaxIterations;
config.tolerance = kTolerance;
config.max_contacts = max_contacts;
config.dist_cutoff = 0; // no geom distances needed
config.npolygonmax = model->npolygonmax;
config.nmeshdegmax = model->nmeshdegmax;
config.max_contacts = max_contacts;
config.buffer = buffer.data();
test/engine/testdata/collision_convex/cone.obj
Vendored
+502
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@@ -0,0 +1,502 @@
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test/engine/testdata/collision_convex/conemesh_box.xml
Vendored
+22
View File
@@ -0,0 +1,22 @@
<mujoco>
<visual>
<headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular=".1 .1 .1"/>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<asset>
<mesh file="cone.obj"/>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
</asset>
<worldbody>
<light pos="1 -1 1.5" dir="-1 1 -1.5" diffuse=".7 .7 .7"/>
<light pos="-1 1 1.5" dir="1 -1 -1.5" diffuse=".4 .4 .4"/>
<geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".3 .3 .3 1"/>
<body pos="0 0 1">
<freejoint/>
<geom type="mesh" mesh="cone" rgba=".7 .7 .7 1"/>
</body>
</worldbody>
</mujoco>