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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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src/engine/engine_collision_convex.c
+2 -2
View File
@@ -828,7 +828,7 @@ static int maxContacts(const mjModel* m, const mjCCDObj* obj1, const mjCCDObj* o
// reduce mesh collisions to 4 contacts max
if (type1 == mjGEOM_BOX || type1 == mjGEOM_MESH) {
if (type2 == mjGEOM_BOX || type2 == mjGEOM_MESH) {
return mjENABLED(mjENBL_MULTICCD) ? 4 : 1;
return mjDISABLED(mjDSBL_MULTICCD) ? 1 : 4;
}
}
@@ -857,7 +857,7 @@ int mjc_Convex(const mjModel* m, mjData* d, mjContact* con, int g1, int g2, mjtN
}
// look for additional contacts
if (ncon == 1 && mjENABLED(mjENBL_MULTICCD) // TODO(tassa) leave as bitflag or make geom attribute (?)
if (ncon == 1 && !mjDISABLED(mjDSBL_MULTICCD) // TODO(tassa) leave as bitflag or make geom attribute (?)
&& m->geom_type[g1] != mjGEOM_ELLIPSOID && m->geom_type[g1] != mjGEOM_SPHERE
&& m->geom_type[g2] != mjGEOM_ELLIPSOID && m->geom_type[g2] != mjGEOM_SPHERE) {
// multiCCD parameters
src/engine/engine_support.c
+2 -2
View File
@@ -66,7 +66,8 @@ const char* mjDISABLESTRING[mjNDISABLE] = {
"Eulerdamp",
"AutoReset",
"NativeCCD",
"Island"
"Island",
"MultiCCD"
};
@@ -76,7 +77,6 @@ const char* mjENABLESTRING[mjNENABLE] = {
"Energy",
"Fwdinv",
"InvDiscrete",
"MultiCCD",
"Sleep"
};