Remove redundant copying in NativeCCD and refactor code for readability.

PiperOrigin-RevId: 675573079 Change-Id: If9f7bc21d9ee7806997f05a8985ebe6b1b3c8332
2024-09-17 08:13:06 -07:00
parent fb56d70dee
commit bd811a44e7
2 changed files with 152 additions and 176 deletions
@@ -56,7 +56,7 @@ mjtNum GeomDist(mjModel* m, mjData* d, int g1, int g2, mjtNum x1[3],
  config.max_iterations = kMaxIterations,
  config.tolerance = kTolerance,
  config.contacts = 0;   // no geom contacts needed
-  config.distances = 1;  // no geom distances needed
+  config.distances = 1;

  mjCCDObj obj1 = {m, d, g1, -1, -1, -1, -1, 0, {1, 0, 0, 0}, mjc_center,
                   mjc_support};