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Remove libccd compatibility layer from native ccd.

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PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
This commit is contained in:
Kyle Bayes
2024-09-06 06:55:01 -07:00
committed by Copybara-Service
parent fa156ed22f
commit 4fc6fb179b
5 changed files with 218 additions and 242 deletions
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src/engine/engine_collision_convex.h
-1
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@@ -51,7 +51,6 @@ struct _mjCCDObj {
int vert;
mjtNum margin;
mjtNum rotate[4];
mjtNum x0[3]; // initial guess of the witness point
void (*center)(mjtNum res[3], const struct _mjCCDObj* obj);
void (*support)(mjtNum res[3], struct _mjCCDObj* obj, const mjtNum dir[3]);
mjtNum prism[6][3]; // for hfield