Fix bad contact from passing through polytope2 in nativeccd.

PiperOrigin-RevId: 742666700 Change-Id: I76034579b4e663f9abfa265ec3e2bc608f631f59
2025-04-01 06:10:30 -07:00
parent 0f456486a4
commit 9ecec6f238
3 changed files with 155 additions and 78 deletions
@@ -44,7 +44,7 @@ typedef enum {
  mjEPA_NOCONTACT           = -1,
  mjEPA_SUCCESS             = 0,
  mjEPA_P2_INVALID_FACES,
-  mjEPA_P2_MISSING_ORIGIN,
+  mjEPA_P2_NONCONVEX,
  mjEPA_P2_ORIGIN_ON_FACE,
  mjEPA_P3_BAD_NORMAL,
  mjEPA_P3_INVALID_V4,