Add faster support functions for NativeCCD.

PiperOrigin-RevId: 684809392 Change-Id: I5125d4bb74c167d370aa919befba9d356c7162da
2024-10-11 05:58:44 -07:00
parent 2dd518734f
commit 70d6655434
5 changed files with 522 additions and 182 deletions
@@ -44,6 +44,7 @@ struct _mjCCDStatus {
  int has_distances;          // set to true if attempted to recover distance info

  // statistics for debugging purposes
+  mjtNum gjk_dist;             // the distance returned by GJK
  int gjk_iterations;         // number of iterations that GJK ran
  int epa_iterations;         // number of iterations that EPA ran (negative if EPA did not run)
  mjtNum simplex1[12];        // the simplex that GJK returned for obj1