Improve polygon creation logic in compiler.

PiperOrigin-RevId: 875070301 Change-Id: I06e851f3450035fff68b99997406d6ea471ce3b8
2026-02-25 03:39:37 -08:00
parent d0fc1c2c83
commit cd8bfb90c3
3 changed files with 82 additions and 70 deletions
@@ -1373,7 +1373,7 @@ TEST_F(MjGjkTest, BoxMesh) {
  std::vector<mjtNum> dir, pos;
  mjtNum dist;
  int ncons = Penetration(status, dist, dir, pos, model, data, g2, g1, 0, 1000);
-
+  EXPECT_EQ(model->nmeshpoly, 7);
  EXPECT_EQ(ncons, 4);
  mj_deleteData(data);
  mj_deleteModel(model);