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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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test/engine/engine_collision_convex_test.cc
+1 -1
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@@ -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);