Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.

PiperOrigin-RevId: 666438658 Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:04 -07:00
parent abe57c234b
commit 088079eff0
17 changed files with 68 additions and 59 deletions
@@ -734,7 +734,7 @@ struct mjOption_ {                // physics options
  mjtNum tolerance;               // main solver tolerance
  mjtNum ls_tolerance;            // CG/Newton linesearch tolerance
  mjtNum noslip_tolerance;        // noslip solver tolerance
-  mjtNum mpr_tolerance;           // MPR solver tolerance
+  mjtNum ccd_tolerance;           // convex collision solver tolerance

  // physical constants
  mjtNum gravity[3];              // gravitational acceleration
@@ -757,7 +757,7 @@ struct mjOption_ {                // physics options
  int iterations;                 // maximum number of main solver iterations
  int ls_iterations;              // maximum number of CG/Newton linesearch iterations
  int noslip_iterations;          // maximum number of noslip solver iterations
-  int mpr_iterations;             // maximum number of MPR solver iterations
+  int ccd_iterations;             // maximum number of convex collision solver iterations
  int disableflags;               // bit flags for disabling standard features
  int enableflags;                // bit flags for enabling optional features
  int disableactuator;            // bit flags for disabling actuators by group id