Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
PiperOrigin-RevId: 666438658 Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
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Yuval Tassa
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Copybara-Service
Copybara-Service
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088079eff0
@@ -444,16 +444,16 @@ adjust it properly through the XML.
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:at:`noslip_tolerance`: :at-val:`real, "1e-6"`
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Tolerance threshold used for early termination of the Noslip solver.
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.. _option-mpr_iterations:
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.. _option-ccd_iterations:
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:at:`mpr_iterations`: :at-val:`int, "50"`
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Maximum number of iterations of the MPR algorithm used for convex mesh collisions. This rarely needs to be adjusted,
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:at:`ccd_iterations`: :at-val:`int, "50"`
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Maximum number of iterations of the algorithm used for convex collisions. This rarely needs to be adjusted,
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except in situations where some geoms have very large aspect ratios.
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.. _option-mpr_tolerance:
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.. _option-ccd_tolerance:
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:at:`mpr_tolerance`: :at-val:`real, "1e-6"`
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Tolerance threshold used for early termination of the MPR algorithm.
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:at:`ccd_tolerance`: :at-val:`real, "1e-6"`
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Tolerance threshold used for early termination of the convex collision algorithm.
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.. _option-sdf_iterations:
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+2
-2
@@ -12,7 +12,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ls_tolerance<option-ls_tolerance>` | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | |
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| | | | :ref:`ls_tolerance<option-ls_tolerance>` | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`ccd_tolerance<option-ccd_tolerance>` | :ref:`gravity<option-gravity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`wind<option-wind>` | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -20,7 +20,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`integrator<option-integrator>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | |
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| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`ccd_iterations<option-ccd_iterations>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -7,6 +7,15 @@ Upcoming version (not yet released)
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General
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^^^^^^^
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.. admonition:: Breaking API changes
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:class: attention
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- The runtime options ``mpr_tolerance`` and ``mpr_iterations`` were renamed to
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:ref:`ccd_tolerance<option-ccd_tolerance>` and :ref:`ccd_iterations<option-ccd_iterations>`, both in XML and in
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the :ref:`mjOption` struct. This is because the new convex collision detection pipeline (see below) does not use
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the MPR algorithm. The semantics of these options remain identical.
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- Added the :ref:`nativeccd<option-flag-nativeccd>` flag. When this flag is enabled, general convex collision
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detection is handled natively, as opposed to using `libccd <https://github.com/danfis/libccd>`__. This feature is in
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early stages of testing.
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@@ -734,7 +734,7 @@ struct mjOption_ { // physics options
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mjtNum tolerance; // main solver tolerance
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mjtNum ls_tolerance; // CG/Newton linesearch tolerance
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mjtNum noslip_tolerance; // noslip solver tolerance
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mjtNum mpr_tolerance; // MPR solver tolerance
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mjtNum ccd_tolerance; // convex collision solver tolerance
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// physical constants
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mjtNum gravity[3]; // gravitational acceleration
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@@ -757,7 +757,7 @@ struct mjOption_ { // physics options
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int iterations; // maximum number of main solver iterations
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int ls_iterations; // maximum number of CG/Newton linesearch iterations
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int noslip_iterations; // maximum number of noslip solver iterations
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int mpr_iterations; // maximum number of MPR solver iterations
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int ccd_iterations; // maximum number of convex collision solver iterations
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int disableflags; // bit flags for disabling standard features
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int enableflags; // bit flags for enabling optional features
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int disableactuator; // bit flags for disabling actuators by group id
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