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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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unity/Runtime/Components/MjGlobalSettings.cs
+8 -8
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@@ -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"));