Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom.

PiperOrigin-RevId: 730457036 Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
2025-02-24 08:13:09 -08:00
parent cf1784bb79
commit ae1c3b7ec0
10 changed files with 935 additions and 158 deletions
@@ -25,8 +25,11 @@
 extern "C" {
 #endif

-// max sides of a face of mesh supported for multiple contacts
-#define mjMAX_SIDES 10
+// tolerance for considering two normals to be aligned
+#define mjCOSINE_TOL 0.99999872
+
+// max number of supported vertices in a polygon face of a mesh
+#define mjMAX_POLYVERT 150

 // Status of an EPA run
 typedef enum {