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Enable multiccd by default.

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PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4
This commit is contained in:
Kyle Bayes
2026-04-20 11:59:24 -07:00
committed by Copybara-Service
parent 8e7787ad09
commit 6cb6e5a93f
22 changed files with 43 additions and 47 deletions
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plugin/usd_decoder/usd_decoder.cc
+1 -1
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@@ -704,7 +704,7 @@ void ParseUsdPhysicsScene(mjSpec* spec,
bool multiccd_flag;
mjc_physics_scene.GetMultiCCDFlagAttr().Get(&multiccd_flag);
spec->option.enableflags |= (multiccd_flag ? mjENBL_MULTICCD : 0);
spec->option.disableflags |= (!multiccd_flag ? mjDSBL_MULTICCD : 0);
// Compiler attributes
auto auto_limits_attr = mjc_physics_scene.GetAutoLimitsAttr();