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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
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@@ -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();