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;