Enable multiccd by default.

PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4

wasm/codegen/generated/bindings.cc

@@ -10942,6 +10942,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .value("mjDSBL_AUTORESET", mjDSBL_AUTORESET)
     .value("mjDSBL_NATIVECCD", mjDSBL_NATIVECCD)
     .value("mjDSBL_ISLAND", mjDSBL_ISLAND)
+    .value("mjDSBL_MULTICCD", mjDSBL_MULTICCD)
     .value("mjNDISABLE", mjNDISABLE);
   enum_<mjtDyn>("mjtDyn")
     .value("mjDYN_NONE", mjDYN_NONE)
@@ -10956,7 +10957,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .value("mjENBL_ENERGY", mjENBL_ENERGY)
     .value("mjENBL_FWDINV", mjENBL_FWDINV)
     .value("mjENBL_INVDISCRETE", mjENBL_INVDISCRETE)
-    .value("mjENBL_MULTICCD", mjENBL_MULTICCD)
     .value("mjENBL_SLEEP", mjENBL_SLEEP)
     .value("mjNENABLE", mjNENABLE);
   enum_<mjtEq>("mjtEq")

wasm/tests/bindings_test.ts

@@ -684,10 +684,10 @@ describe('MuJoCo WASM Bindings', () => {
   it('should check constants values', () => {
     expect(mujoco.mjNEQDATA).toBe(11);
     expect(mujoco.mjDISABLESTRING).toEqual([
-      'Constraint', 'Equality', 'Frictionloss', 'Limit', 'Contact', 'Spring',
-      'Damper', 'Gravity', 'Clampctrl', 'Warmstart', 'Filterparent',
-      'Actuation', 'Refsafe', 'Sensor', 'Midphase', 'Eulerdamp', 'AutoReset',
-      'NativeCCD', 'Island'
+      'Constraint',   'Equality',  'Frictionloss', 'Limit',     'Contact',
+      'Spring',       'Damper',    'Gravity',      'Clampctrl', 'Warmstart',
+      'Filterparent', 'Actuation', 'Refsafe',      'Sensor',    'Midphase',
+      'Eulerdamp',    'AutoReset', 'NativeCCD',    'Island',    'MultiCCD',
     ]);
     expect(mujoco.mjRNDSTRING).toEqual([
       ['Shadow', '1', 'S'], ['Wireframe', '0', 'W'], ['Reflection', '1', 'R'],