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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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wasm/codegen/generated/bindings.cc
+2
View File
@@ -5148,6 +5148,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("nlight", &MjModel::nlight, &MjModel::set_nlight, reference())
.property("nmat", &MjModel::nmat, &MjModel::set_nmat, reference())
.property("nmesh", &MjModel::nmesh, &MjModel::set_nmesh, reference())
.property("nmeshdegmax", &MjModel::nmeshdegmax, &MjModel::set_nmeshdegmax, reference())
.property("nmeshface", &MjModel::nmeshface, &MjModel::set_nmeshface, reference())
.property("nmeshgraph", &MjModel::nmeshgraph, &MjModel::set_nmeshgraph, reference())
.property("nmeshnormal", &MjModel::nmeshnormal, &MjModel::set_nmeshnormal, reference())
@@ -5167,6 +5168,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("nplugin", &MjModel::nplugin, &MjModel::set_nplugin, reference())
.property("npluginattr", &MjModel::npluginattr, &MjModel::set_npluginattr, reference())
.property("npluginstate", &MjModel::npluginstate, &MjModel::set_npluginstate, reference())
.property("npolygonmax", &MjModel::npolygonmax, &MjModel::set_npolygonmax, reference())
.property("nq", &MjModel::nq, &MjModel::set_nq, reference())
.property("nsensor", &MjModel::nsensor, &MjModel::set_nsensor, reference())
.property("nsensordata", &MjModel::nsensordata, &MjModel::set_nsensordata, reference())
wasm/codegen/generated/bindings.h
+12
View File
@@ -4221,6 +4221,18 @@ struct MjModel {
void set_nconmax(int value) {
ptr_->nconmax = static_cast<mjtSize>(value);
}
int npolygonmax() const {
return static_cast<int>(ptr_->npolygonmax);
}
void set_npolygonmax(int value) {
ptr_->npolygonmax = static_cast<mjtSize>(value);
}
int nmeshdegmax() const {
return static_cast<int>(ptr_->nmeshdegmax);
}
void set_nmeshdegmax(int value) {
ptr_->nmeshdegmax = static_cast<mjtSize>(value);
}
int nuserdata() const {
return static_cast<int>(ptr_->nuserdata);
}