Merge mjc_ccdIteration into mjc_penetration.

PiperOrigin-RevId: 877432442 Change-Id: I6bffb36522f9e4f0e7b1023003e70df064e1ebb7
2026-03-02 09:17:22 -08:00
parent bf74d01d93
commit d00ddea269
2 changed files with 61 additions and 120 deletions
@@ -39,6 +39,15 @@ mji_ functions:

 //------------------------------ 3D vector and matrix-vector operations ----------------------------

+// res = 0
+static inline
+void mji_zero3(mjtNum* restrict res) {
+  res[0] = 0;
+  res[1] = 0;
+  res[2] = 0;
+}
+
+
 // res = vec
 static inline
 void mji_copy3(mjtNum* restrict res, const mjtNum *vec) {