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Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.

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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
This commit is contained in:
Yuval Tassa
2024-08-22 12:01:04 -07:00
committed by Copybara-Service
parent abe57c234b
commit 088079eff0
17 changed files with 68 additions and 59 deletions
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include/mujoco/mjmodel.h
+2 -2
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@@ -438,7 +438,7 @@ 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
@@ -461,7 +461,7 @@ 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
include/mujoco/mjxmacro.h
+2 -2
View File
@@ -26,7 +26,7 @@
X( mjtNum, tolerance ) \
X( mjtNum, ls_tolerance ) \
X( mjtNum, noslip_tolerance ) \
X( mjtNum, mpr_tolerance ) \
X( mjtNum, ccd_tolerance ) \
X( mjtNum, density ) \
X( mjtNum, viscosity ) \
X( mjtNum, o_margin ) \
@@ -40,7 +40,7 @@
X( int, iterations ) \
X( int, ls_iterations ) \
X( int, noslip_iterations ) \
X( int, mpr_iterations ) \
X( int, ccd_iterations ) \
X( int, disableflags ) \
X( int, enableflags ) \
X( int, disableactuator ) \