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Set nativeccd as default.

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PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
This commit is contained in:
Kyle Bayes
2025-02-26 09:14:19 -08:00
committed by Copybara-Service
parent 4f691eeae4
commit ed16f2daf2
21 changed files with 232 additions and 157 deletions
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include/mujoco/mjmodel.h
+3 -3
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@@ -64,8 +64,9 @@ typedef enum mjtDisableBit_ { // disable default feature bitflags
mjDSBL_MIDPHASE = 1<<13, // mid-phase collision filtering
mjDSBL_EULERDAMP = 1<<14, // implicit integration of joint damping in Euler integrator
mjDSBL_AUTORESET = 1<<15, // automatic reset when numerical issues are detected
mjDSBL_NATIVECCD = 1<<16, // native convex collision detection
mjNDISABLE = 16 // number of disable flags
mjNDISABLE = 17 // number of disable flags
} mjtDisableBit;
@@ -77,9 +78,8 @@ typedef enum mjtEnableBit_ { // enable optional feature bitflags
// experimental features:
mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
mjENBL_ISLAND = 1<<5, // constraint island discovery
mjENBL_NATIVECCD = 1<<6, // native convex collision detection
mjNENABLE = 7 // number of enable flags
mjNENABLE = 6 // number of enable flags
} mjtEnableBit;