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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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simulate/simulate.cc
+4 -4
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@@ -690,8 +690,8 @@ void MakePhysicsSection(mj::Simulate* sim) {
{mjITEM_EDITNUM, "LS Tol", 2, &(opt->ls_tolerance), "1 0 0.1"},
{mjITEM_EDITINT, "Noslip Iter", 2, &(opt->noslip_iterations), "1 0 1000"},
{mjITEM_EDITNUM, "Noslip Tol", 2, &(opt->noslip_tolerance), "1 0 1"},
{mjITEM_EDITINT, "MPR Iter", 2, &(opt->mpr_iterations), "1 0 1000"},
{mjITEM_EDITNUM, "MPR Tol", 2, &(opt->mpr_tolerance), "1 0 1"},
{mjITEM_EDITINT, "CCD Iter", 2, &(opt->ccd_iterations), "1 0 1000"},
{mjITEM_EDITNUM, "CCD Tol", 2, &(opt->ccd_tolerance), "1 0 1"},
{mjITEM_EDITNUM, "API Rate", 2, &(opt->apirate), "1 0 1000"},
{mjITEM_EDITINT, "SDF Iter", 2, &(opt->sdf_iterations), "1 1 20"},
{mjITEM_EDITINT, "SDF Init", 2, &(opt->sdf_initpoints), "1 1 100"},
@@ -1886,7 +1886,7 @@ void Simulate::Sync() {
X(impratio);
X(tolerance);
X(noslip_tolerance);
X(mpr_tolerance);
X(ccd_tolerance);
X(gravity);
X(wind);
X(magnetic);
@@ -1902,7 +1902,7 @@ void Simulate::Sync() {
X(solver);
X(iterations);
X(noslip_iterations);
X(mpr_iterations);
X(ccd_iterations);
X(disableflags);
X(enableflags);
X(disableactuator);