Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.

PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463

src/engine/engine_collision_convex.c

@@ -291,9 +291,9 @@ void mjc_support(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
 // initialize CCD structure
 static void mjc_initCCD(ccd_t* ccd, const mjModel* m) {
   CCD_INIT(ccd);
-  ccd->mpr_tolerance = m->opt.mpr_tolerance;
-  ccd->epa_tolerance = m->opt.mpr_tolerance;  // use MPR tolerance for EPA
-  ccd->max_iterations = m->opt.mpr_iterations;
+  ccd->mpr_tolerance = m->opt.ccd_tolerance;
+  ccd->epa_tolerance = m->opt.ccd_tolerance;  // use MPR tolerance for EPA
+  ccd->max_iterations = m->opt.ccd_iterations;
 }
 
 
@@ -1237,8 +1237,8 @@ int mjc_HFieldElem(const mjModel* m, const mjData* d, mjContact* con,
   ccd.support2 = mjccd_support;
 
   // set ccd parameters
-  ccd.max_iterations = m->opt.mpr_iterations;
-  ccd.mpr_tolerance = m->opt.mpr_tolerance;
+  ccd.max_iterations = m->opt.ccd_iterations;
+  ccd.mpr_tolerance = m->opt.ccd_tolerance;
 
   // compute real-valued grid step, and triangulation direction
   dx = (2.0*hsize[0]) / (ncol-1);

src/engine/engine_io.c

@@ -124,7 +124,7 @@ void mj_defaultOption(mjOption* opt) {
   opt->tolerance          = 1e-8;
   opt->ls_tolerance       = 0.01;
   opt->noslip_tolerance   = 1e-6;
-  opt->mpr_tolerance      = 1e-6;
+  opt->ccd_tolerance      = 1e-6;
 
   // physical constants
   opt->gravity[0]         = 0;
@@ -156,7 +156,7 @@ void mj_defaultOption(mjOption* opt) {
   opt->iterations         = 100;
   opt->ls_iterations      = 50;
   opt->noslip_iterations  = 0;
-  opt->mpr_iterations     = 50;
+  opt->ccd_iterations     = 50;
   opt->disableflags       = 0;
   opt->enableflags        = 0;
   opt->disableactuator    = 0;

src/xml/xml_native_reader.cc

@@ -110,10 +110,10 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
 
     {"option", "*", "27",
         "timestep", "apirate", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
-        "mpr_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
+        "ccd_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
         "o_margin", "o_solref", "o_solimp", "o_friction",
         "integrator", "cone", "jacobian",
-        "solver", "iterations", "ls_iterations", "noslip_iterations", "mpr_iterations",
+        "solver", "iterations", "ls_iterations", "noslip_iterations", "ccd_iterations",
         "sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
     {"<"},
         {"flag", "?", "23", "constraint", "equality", "frictionloss", "limit", "contact",
@@ -1061,7 +1061,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
   ReadAttr(section, "tolerance", 1, &opt->tolerance, text);
   ReadAttr(section, "ls_tolerance", 1, &opt->ls_tolerance, text);
   ReadAttr(section, "noslip_tolerance", 1, &opt->noslip_tolerance, text);
-  ReadAttr(section, "mpr_tolerance", 1, &opt->mpr_tolerance, text);
+  ReadAttr(section, "ccd_tolerance", 1, &opt->ccd_tolerance, text);
   ReadAttr(section, "gravity", 3, opt->gravity, text);
   ReadAttr(section, "wind", 3, opt->wind, text);
   ReadAttr(section, "magnetic", 3, opt->magnetic, text);
@@ -1080,7 +1080,7 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
   ReadAttrInt(section, "iterations", &opt->iterations);
   ReadAttrInt(section, "ls_iterations", &opt->ls_iterations);
   ReadAttrInt(section, "noslip_iterations", &opt->noslip_iterations);
-  ReadAttrInt(section, "mpr_iterations", &opt->mpr_iterations);
+  ReadAttrInt(section, "ccd_iterations", &opt->ccd_iterations);
   ReadAttrInt(section, "sdf_iterations", &opt->sdf_iterations);
   ReadAttrInt(section, "sdf_initpoints", &opt->sdf_initpoints);
 

src/xml/xml_native_writer.cc

@@ -940,7 +940,7 @@ void mjXWriter::Option(XMLElement* root) {
   WriteAttr(section, "tolerance", 1, &model->option.tolerance, &opt.tolerance);
   WriteAttr(section, "ls_tolerance", 1, &model->option.ls_tolerance, &opt.ls_tolerance);
   WriteAttr(section, "noslip_tolerance", 1, &model->option.noslip_tolerance, &opt.noslip_tolerance);
-  WriteAttr(section, "mpr_tolerance", 1, &model->option.mpr_tolerance, &opt.mpr_tolerance);
+  WriteAttr(section, "ccd_tolerance", 1, &model->option.ccd_tolerance, &opt.ccd_tolerance);
   WriteAttr(section, "gravity", 3, model->option.gravity, opt.gravity);
   WriteAttr(section, "wind", 3, model->option.wind, opt.wind);
   WriteAttr(section, "magnetic", 3, model->option.magnetic, opt.magnetic);
@@ -963,7 +963,7 @@ void mjXWriter::Option(XMLElement* root) {
   WriteAttrInt(section, "iterations", model->option.iterations, opt.iterations);
   WriteAttrInt(section, "ls_iterations", model->option.ls_iterations, opt.ls_iterations);
   WriteAttrInt(section, "noslip_iterations", model->option.noslip_iterations, opt.noslip_iterations);
-  WriteAttrInt(section, "mpr_iterations", model->option.mpr_iterations, opt.mpr_iterations);
+  WriteAttrInt(section, "ccd_iterations", model->option.ccd_iterations, opt.ccd_iterations);
   WriteAttrInt(section, "sdf_iterations", model->option.sdf_iterations, opt.sdf_iterations);
   WriteAttrInt(section, "sdf_initpoints", model->option.sdf_initpoints, opt.sdf_initpoints);