Make polytope2 and polytope4 more numerically robust in nativeccd.

PiperOrigin-RevId: 723412555 Change-Id: Id262a3c19bcd30b74b1495591bdc95f951bfca50
2025-02-05 01:39:52 -08:00
parent 6bd88711a8
commit 3235f69afc
3 changed files with 125 additions and 46 deletions
@@ -40,6 +40,7 @@ typedef enum {
  mjEPA_P3_INVALID_V5,
  mjEPA_P3_MISSING_ORIGIN,
  mjEPA_P3_ORIGIN_ON_FACE,
+  mjEPA_P4_MISSING_ORIGIN,
 } mjEPAStatus;

 // configuration for convex collision detection