chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Documentation: Pair-wise colliders.

Browse Source 
PiperOrigin-RevId: 855245724
Change-Id: Iffad5dc426350040f730dc1a7b9766f079ef949e
This commit is contained in:
Taylor Howell
2026-01-12 08:46:35 -08:00
committed by Copybara-Service
parent 1cda1e7a8c
commit 013268c283
2 changed files with 144 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/computation/index.rst
+138
View File
@@ -1574,6 +1574,144 @@ callbacks. This can be used to incorporate a general-purpose "triangle soup" col
do not recommend such an approach. Pre-processing the geometry and representing it as a union of convex geoms takes some
work, but it pays off at runtime and yields both faster and more stable simulation.
.. _coPairwise:
Pair-wise colliders
^^^^^^^^^^^^^^^^^^^
The table below provides information about the colliders used for different geom pairs. The second row in each cell
lists the maximum number of contacts generated, possibly with ``multiccd`` enabled. For example, ``Mesh`` / ``Mesh``
will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
.. list-table::
:header-rows: 1
:stub-columns: 1
:widths: auto
:class: table-pairwise
* -
- Sphere
- Capsule
- Ellipsoid
- Cylinder
- Box
- Mesh
- SDF
* - Plane
- | primitive
| **1**
- | primitive
| **2**
- | primitive
| **1**
- | primitive
| **2**
- | primitive
| **4**
- | primitive
| **3**
- | primitive
| **1**
* - HField
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
- | HFieldCCD
| :ref:`mjMAXCONPAIR <glNumeric>`
- | HFieldSDF
| :ref:`sdf_initpoints <option-sdf_initpoints>`
* - Sphere
- | primitive
| **1**
- | primitive
| **1**
- | CCD
| **1**
- | primitive
| **1**
- | primitive
| **1**
- | CCD
| **1**
- | SDF
| :ref:`sdf_initpoints <option-sdf_initpoints>`
* - Capsule
-
- | primitive
| **2**
- | CCD
| **1**
- | CCD
| **1**, **4**
- | primitive
| **2**
- | CCD
| **1**, **4**
- | SDF
| :ref:`sdf_initpoints <option-sdf_initpoints>`
* - Ellipsoid
-
-
- | CCD
| **1**
- | CCD
| **1**
- | CCD
| **1**
- | CCD
| **1**
- | SDF
| :ref:`sdf_initpoints <option-sdf_initpoints>`
* - Cylinder
-
-
-
- | CCD
| **1**, **4**
- | CCD
| **1**, **4**
- | CCD
| **1**, **4**
- | SDF
| :ref:`sdf_initpoints <option-sdf_initpoints>`
* - Box
-
-
-
-
- | primitive
| **8**
- | CCD
| **1**, **4**
- | SDF
| :ref:`sdf_initpoints <option-sdf_initpoints>`
* - Mesh
-
-
-
-
-
- | CCD
| **1**, **4**
- | MeshSDF
| :ref:`sdf_initpoints <option-sdf_initpoints>`
* - SDF
-
-
-
-
-
-
- | SDF
| :ref:`sdf_initpoints <option-sdf_initpoints>`
.. _Sleeping:
Sleeping islands