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

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PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
This commit is contained in:
Kyle Bayes
2025-02-24 08:13:09 -08:00
committed by Copybara-Service
parent cf1784bb79
commit ae1c3b7ec0
10 changed files with 935 additions and 158 deletions
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src/user/user_model.h
+4 -1
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@@ -99,7 +99,10 @@ class mjCModel_ : public mjsElement {
int nmeshnormal; // number of normals in all meshes
int nmeshtexcoord; // number of texture coordinates in all meshes
int nmeshface; // number of triangular faces in all meshes
int nmeshgraph; // number of shorts in mesh auxiliary data
int nmeshpoly; // number of polygon faces in all meshes
int nmeshgraph; // number of ints in mesh auxiliary data
int nmeshpolyvert; // number of vertices in all polygon faces
int nmeshpolymap; // number of polygons in vertex map
int nskinvert; // number of vertices in all skins
int nskintexvert; // number of vertices with texcoord in all skins
int nskinface; // number of faces in all skins