Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.

PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463

unity/Runtime/Bindings/MjBindings.cs

@@ -5008,7 +5008,7 @@ public unsafe struct mjOption_ {
   public double tolerance;
   public double ls_tolerance;
   public double noslip_tolerance;
-  public double mpr_tolerance;
+  public double ccd_tolerance;
   public fixed double gravity[3];
   public fixed double wind[3];
   public fixed double magnetic[3];
@@ -5025,7 +5025,7 @@ public unsafe struct mjOption_ {
   public int iterations;
   public int ls_iterations;
   public int noslip_iterations;
-  public int mpr_iterations;
+  public int ccd_iterations;
   public int disableflags;
   public int enableflags;
   public int disableactuator;

unity/Runtime/Components/MjGlobalSettings.cs

@@ -190,9 +190,9 @@ public struct MjOptionStruct {
   [Tooltip("Threshold used for early termination of the Noslip solver.")]
   public float NoSlipTolerance;
   [Tooltip("Maximum iterations for convex mesh collisions.")]
-  public int MprIterations;
+  public int CcdIterations;
   [Tooltip("Threshold used for early termination of the MPR algorithm.")]
-  public float MprTolerance;
+  public float CcdTolerance;
 
   public MjcfOptionFlag Flag;
 
@@ -214,8 +214,8 @@ public struct MjOptionStruct {
     Tolerance = 1e-8f,
     NoSlipIterations = 0,
     NoSlipTolerance = 1e-6f,
-    MprIterations = 50,
-    MprTolerance = 1e-6f,
+    CcdIterations = 50,
+    CcdTolerance = 1e-6f,
     Flag = MjcfOptionFlag.Default
   };
 
@@ -258,8 +258,8 @@ public struct MjOptionStruct {
     NoSlipIterations = (int)mjcf.GetFloatAttribute(
         "noslip_iterations", localDefault.NoSlipIterations);
     NoSlipTolerance = mjcf.GetFloatAttribute("noslip_tolerance", localDefault.NoSlipTolerance);
-    MprIterations = (int)mjcf.GetFloatAttribute("mpr_iterations", localDefault.MprIterations);
-    MprTolerance = mjcf.GetFloatAttribute("mpr_tolerance", localDefault.MprTolerance);
+    CcdIterations = (int)mjcf.GetFloatAttribute("ccd_iterations", localDefault.CcdIterations);
+    CcdTolerance = mjcf.GetFloatAttribute("ccd_tolerance", localDefault.CcdTolerance);
 
     var flagElements = mjcf.GetElementsByTagName("flag");
     if (flagElements.Count == 1) {
@@ -291,8 +291,8 @@ public struct MjOptionStruct {
     mjcf.SetAttribute("tolerance", MjEngineTool.MakeLocaleInvariant($"{Tolerance}"));
     mjcf.SetAttribute("noslip_iterations", MjEngineTool.MakeLocaleInvariant($"{NoSlipIterations}"));
     mjcf.SetAttribute("noslip_tolerance", MjEngineTool.MakeLocaleInvariant($"{NoSlipTolerance}"));
-    mjcf.SetAttribute("mpr_iterations", MjEngineTool.MakeLocaleInvariant($"{MprIterations}"));
-    mjcf.SetAttribute("mpr_tolerance", MjEngineTool.MakeLocaleInvariant($"{MprTolerance}"));
+    mjcf.SetAttribute("ccd_iterations", MjEngineTool.MakeLocaleInvariant($"{CcdIterations}"));
+    mjcf.SetAttribute("ccd_tolerance", MjEngineTool.MakeLocaleInvariant($"{CcdTolerance}"));
 
     var flags = (XmlElement)mjcf.AppendChild(
         mjcf.OwnerDocument.CreateElement("flag"));

unity/Tests/Editor/Components/MjGlobalSettingsTests.cs

@@ -56,8 +56,8 @@ public class MjGlobalSettingsGenerationTests {
     _settings.GlobalOptions.Tolerance = 3.4f;
     _settings.GlobalOptions.NoSlipIterations = 5;
     _settings.GlobalOptions.NoSlipTolerance = 6.7f;
-    _settings.GlobalOptions.MprIterations = 8;
-    _settings.GlobalOptions.MprTolerance = 0.9f;
+    _settings.GlobalOptions.CcdIterations = 8;
+    _settings.GlobalOptions.CcdTolerance = 0.9f;
     _settings.GlobalSizes.Memory = "1M";
 
     _settings.GlobalsToMjcf(_root);
@@ -77,8 +77,8 @@ public class MjGlobalSettingsGenerationTests {
     Assert.That(_doc.OuterXml, Does.Contain(@"tolerance=""3.4"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"noslip_iterations=""5"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"noslip_tolerance=""6.7"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"mpr_iterations=""8"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"mpr_tolerance=""0.9"""));
+    Assert.That(_doc.OuterXml, Does.Contain(@"ccd_iterations=""8"""));
+    Assert.That(_doc.OuterXml, Does.Contain(@"ccd_tolerance=""0.9"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"memory=""1M"""));
   }
 
@@ -147,8 +147,8 @@ public class MjGlobalSettingsParsingTests {
     _option.SetAttribute("tolerance", "3.4");
     _option.SetAttribute("noslip_iterations", "5");
     _option.SetAttribute("noslip_tolerance", "6.7");
-    _option.SetAttribute("mpr_iterations", "8");
-    _option.SetAttribute("mpr_tolerance", "0.9");
+    _option.SetAttribute("ccd_iterations", "8");
+    _option.SetAttribute("ccd_tolerance", "0.9");
 
     _flag.SetAttribute("gravity", "disable");
 
@@ -172,8 +172,8 @@ public class MjGlobalSettingsParsingTests {
     Assert.That(_settings.GlobalOptions.Tolerance, Is.EqualTo(3.4f));
     Assert.That(_settings.GlobalOptions.NoSlipIterations, Is.EqualTo(5));
     Assert.That(_settings.GlobalOptions.NoSlipTolerance, Is.EqualTo(6.7f));
-    Assert.That(_settings.GlobalOptions.MprIterations, Is.EqualTo(8));
-    Assert.That(_settings.GlobalOptions.MprTolerance, Is.EqualTo(0.9f));
+    Assert.That(_settings.GlobalOptions.CcdIterations, Is.EqualTo(8));
+    Assert.That(_settings.GlobalOptions.CcdTolerance, Is.EqualTo(0.9f));
 
     Assert.That(_settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
 

unity/Tests/Editor/Components/MjcfGenerationContextTests.cs

@@ -74,8 +74,8 @@ public class MjcfGenerationContextTests {
     Assert.That(mjcf.OuterXml, Does.Contain("tolerance"));
     Assert.That(mjcf.OuterXml, Does.Contain("noslip_iterations"));
     Assert.That(mjcf.OuterXml, Does.Contain("noslip_tolerance"));
-    Assert.That(mjcf.OuterXml, Does.Contain("mpr_iterations"));
-    Assert.That(mjcf.OuterXml, Does.Contain("mpr_tolerance"));
+    Assert.That(mjcf.OuterXml, Does.Contain("ccd_iterations"));
+    Assert.That(mjcf.OuterXml, Does.Contain("ccd_tolerance"));
   }
 
   [Test]