Update multiccd default in mjcPhysics.

PiperOrigin-RevId: 911410939
Change-Id: Ia20b5be87f85c4662b71994dd824d90c6b98b3ed

doc/changelog.rst

@@ -30,6 +30,12 @@ General
      |br| ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
 
 
+
+Bug fixes
+^^^^^^^^^
+
+- Fixed default for multiccd in :ref:`mjcPhysics`.
+
 Python
 ^^^^^^
 

include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h

@@ -1319,7 +1319,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:multiccd = 0` |
+  /// | Declaration | `uniform bool mjc:flag:multiccd = 1` |
   /// | C++ Type | bool |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |

src/experimental/usd/mjcPhysics/generatedSchema.usda

@@ -138,7 +138,7 @@ class "MjcSceneAPI" (
         displayName = "Mid-Phase Collision Filtering Toggle"
         doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."
     )
-    uniform bool mjc:flag:multiccd = 0 (
+    uniform bool mjc:flag:multiccd = 1 (
         displayName = "Multiple Contact Collision Detection (CCD) Toggle"
         doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."
     )

src/experimental/usd/mjcPhysics/schema.usda

@@ -493,7 +493,7 @@ class "MjcSceneAPI"
         doc = """Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."""
     )
 
-    uniform bool mjc:flag:multiccd = False (
+    uniform bool mjc:flag:multiccd = True (
         customData = {
             string apiName = "MultiCCDFlag"
         }

test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc

@@ -172,6 +172,8 @@ TEST_F(MjcPhysicsSceneTest, TestDefaults) {
                                                     mjDSBL_EULERDAMP);
   EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(AutoResetFlag,
                                                     mjDSBL_AUTORESET);
+  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MultiCCDFlag,
+                                                    mjDSBL_MULTICCD);
 
   EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(OverrideFlag,
                                                    mjENBL_OVERRIDE);