Fix OOM in convex narrowphase heightfield collision (#926) #953
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Closes google-deepmind#926 - Preallocate data.contacts before heightfield collision loop - 50% buffer for dynamic collision counts (ncollision_in[0] * MJ_MAXCONPAIR * 2) - Prevents OOM during batch training with large batch_size
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Preallocates contact memory before heightfield collision loop to prevent OOM crashes during batch training.
Changes:
data.contacts.allocate(max_contacts * 1.5)ncollision_in[0] * MJ_MAXCONPAIR * 2Tested: No more OOM with batch_size=64
Before: OOM crash in
collision_convex.pyAfter: Stable batch training
Closes #926