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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/xml/xml_native_reader.cc
+4 -4
View File
@@ -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
+2 -2
View File
@@ -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);