Implement initial GJK algorithm.

PiperOrigin-RevId: 645368315 Change-Id: I40a1e1023fd9f14a59e11a9dcc6ac22df241b6ae
google-deepmind · Jun 21, 2024 · 1e84548 · 1e84548
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commit 1e84548
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diff --git a/src/engine/CMakeLists.txt b/src/engine/CMakeLists.txt
@@ -21,6 +21,8 @@ set(MUJOCO_ENGINE_SRCS
     engine_collision_convex.h
     engine_collision_driver.c
     engine_collision_driver.h
+    engine_collision_gjk.c
+    engine_collision_gjk.h
     engine_collision_primitive.c
     engine_collision_primitive.h
     engine_collision_sdf.c