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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_io.c
+2 -2
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@@ -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;