Add support for NativeCCD multiple contacts for box-box collision.

PiperOrigin-RevId: 718352304 Change-Id: Icaa827e716a2d7aa7c0c644e0ccd2913b476e6fb
2025-01-22 06:02:10 -08:00
parent 0090e1e908
commit aa505a7872
4 changed files with 949 additions and 98 deletions
@@ -25,6 +25,9 @@
 extern "C" {
 #endif

+// max sides of a face of mesh supported for multiple contacts
+#define mjMAX_SIDES 10
+
 // Status of an EPA run
 typedef enum {
  mjEPA_NOCONTACT           = -1,