Add internal mj_narrowphase for batch processing of potential geom pair collisions.

PiperOrigin-RevId: 918988042 Change-Id: I871dcdf42f8105e2c8a57e275a3775ea46c69e65
2026-05-21 05:15:50 -07:00
parent 7c47a89cd0
commit ad96acfb16
4 changed files with 315 additions and 167 deletions
@@ -124,6 +124,9 @@ int mjc_HFieldElem(const mjModel* m, mjData* d, mjContact* con, int g, int f, in
 // fix contact frame normal
 void mjc_fixNormal(const mjModel* m, const mjData* d, mjPreContact* con, int g1, int g2);

+// set CCD internal buffer
+void mjc_setCCDBuffer(void* buffer);
+
 #ifdef __cplusplus
 }
 #endif