Implement mesh extrema in a 3x3x3 grid corresponding to each feature of a unit cube. These are used as seeds for a better initial point in mesh hill climbing with up to a 2x speedup in mjc_Convex.

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PiperOrigin-RevId: 959645299
Change-Id: I032ae534704e0cc440ddb7691fd21a29a359f521

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Kyle Bayes

2026-08-05 07:22:01 -07:00

committed by Copybara-Service

parent 1362a8bded

commit 83e621d771

14 changed files with 2708 additions and 2 deletions

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test/engine/testdata/collision_convex/sphere.obj

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