Exit GJK early if geom distance doesn't need to be recovered.

PiperOrigin-RevId: 672334991 Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
2024-09-08 14:57:08 -07:00
parent 61721f8d3c
commit 44145742a7
3 changed files with 19 additions and 2 deletions
@@ -40,6 +40,8 @@ struct _mjCCDStatus {
  // configurations used
  int max_iterations;         // the maximum number of iterations for GJK and EPA
  mjtNum tolerance;           // tolerance used by GJK and EPA
+  int has_contacts;           // set to true if attempted to recover contact (pendetration) info
+  int has_distances;          // set to true if attempted to recover distance info

  // statistics for debugging purposes
  int gjk_iterations;         // number of iterations that GJK ran