Enable multiccd by default.

PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4

test/engine/engine_collision_convex_test.cc

@@ -68,7 +68,7 @@ TEST_F(MjcConvexTest, CylinderBox) {
   EXPECT_EQ(data->ncon, 5);
 
   // with multiCCD disabled, should find 1 contact
-  model->opt.enableflags &= ~mjENBL_MULTICCD;
+  model->opt.disableflags |= mjDSBL_MULTICCD;
   mj_forward(model, data);
   EXPECT_EQ(data->ncon, 1);
 

test/engine/engine_collision_gjk_test.cc

@@ -1998,7 +1998,7 @@ TEST_F(MjGjkTest, CylinderBoxMargin) {
   <mujoco>
     <statistic meansize="0.15"/>
     <option>
-      <flag gravity="disable"/>
+      <flag gravity="disable" multiccd="disable"/>
     </option>
 
     <worldbody>

test/engine/engine_solver_test.cc

@@ -46,6 +46,7 @@ TEST_F(SolverTest, IslandsEquivalent) {
   model->opt.tolerance = 0;                     // set tolerance to 0
   model->opt.ls_tolerance = 0;                  // set ls_tolerance to 0
   model->opt.ccd_tolerance = 0;                 // set ccd_tolerance to 0
+  model->opt.disableflags |= mjDSBL_MULTICCD;   // disable multiccd
 
   int nv = model->nv;