Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD.

PiperOrigin-RevId: 441482552 Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb
2022-04-13 16:22:26 +01:00
parent 55c1c91382
commit 87539dbd24
18 changed files with 132 additions and 83 deletions
@@ -69,7 +69,10 @@ typedef enum mjtEnableBit_ {      // enable optional feature bitflags
  mjENBL_FWDINV       = 1<<2,     // record solver statistics
  mjENBL_SENSORNOISE  = 1<<3,     // add noise to sensor data

-  mjNENABLE           = 4         // number of enable flags
+                                  // experimental features:
+  mjENBL_MULTICCD     = 1<<30,    // multi-point convex collision detection
+
+  mjNENABLE           = 5         // number of enable flags
 } mjtEnableBit;


@@ -24,7 +24,7 @@ extern "C" {
 #endif

 // header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 214
+#define mjVERSION_HEADER 215

 // needed to define size_t, fabs and log10
 #include "stdlib.h"