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
@@ -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);
  }