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Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.

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PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
This commit is contained in:
Kyle Bayes
2025-03-07 05:16:54 -08:00
committed by Copybara-Service
parent e4ee00e695
commit 4d024f9421
9 changed files with 435 additions and 363 deletions
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test/engine/engine_collision_gjk_test.cc
+1 -1
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@@ -991,7 +991,7 @@ TEST_F(MjGjkTest, SmallBoxMesh) {
EXPECT_NEAR(dir[2], 1, kTolerance);
// position
EXPECT_NEAR(mju_abs(pos[0]), 0.08333333, kTolerance); // -pos[0] on ARM
EXPECT_NEAR(pos[0], 0, kTolerance);
EXPECT_NEAR(pos[1], 0, kTolerance);
EXPECT_NEAR(pos[2], 0, kTolerance);