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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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src/engine/engine_collision_convex.c
+5 -5
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@@ -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);