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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_solver_test.cc
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@@ -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;