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Add mj_maxContact API function.

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PiperOrigin-RevId: 903135055
Change-Id: I5f103c7d51f97e327c923bc567002ace835f5517
This commit is contained in:
Kyle Bayes
2026-04-21 04:02:34 -07:00
committed by Copybara-Service
parent bc5883e82f
commit 3325971840
13 changed files with 448 additions and 21 deletions
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doc/changelog.rst
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@@ -7,7 +7,8 @@ Upcoming version (not yet released)
General
^^^^^^^
- Added new :ref:`mj_maxContact<mj_maxContact>` function to get the maximum number of possible contacts returned by
two geoms.
- Added :ref:`multi-cell support<body-flexcomp-cellnum>` for trilinear and quadratic flexes. Note that the implicit
integrator uses a dense solver for the flex degrees of freedom, which can be slow for multi-cell flexes.
- Refactored ``flexstrain`` equality constraints to be instantiated per cell instead of per flex object, reducing the