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Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.

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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
This commit is contained in:
Kyle Bayes
2024-08-16 14:07:53 -07:00
committed by Copybara-Service
parent 390bce2352
commit 0bffd744f9
13 changed files with 62 additions and 39 deletions
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doc/XMLreference.rst
+13 -9
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@@ -623,13 +623,13 @@ from its default.
.. _option-flag-multiccd:
:at:`multiccd`: :at-val:`[disable, enable], "disable"` |nbsp| |nbsp| |nbsp| (experimental feature)
This flag enables multiple-contact collision detection for geom pairs that use the general-purpose convex-convex
collider based on :ref:`libccd <coChecking>` e.g., mesh-mesh collisions. This can be useful when the contacting geoms
have a flat surface, and the single contact point generated by the convex-convex collider cannot accurately capture
the surface contact, leading to instabilities that typically manifest as sliding or wobbling. Multiple contact points
are found by rotating the two geoms by ±1e-3 radians around the tangential axes and re-running the collision
function. If a new contact is detected it is added, allowing for up to 4 additional contact points. This feature is
currently considered experimental, and both the behavior and the way it is activated may change in the future.
This flag enables multiple-contact collision detection for geom pairs that use a general-purpose convex-convex
collider e.g., mesh-mesh collisions. This can be useful when the contacting geoms have a flat surface, and the
single contact point generated by the convex-convex collider cannot accurately capture the surface contact, leading
to instabilities that typically manifest as sliding or wobbling. Multiple contact points are found by rotating the
two geoms by ±1e-3 radians around the tangential axes and re-running the collision function. If a new contact is
detected it is added, allowing for up to 4 additional contact points. This feature is currently considered
experimental, and both the behavior and the way it is activated may change in the future.
.. _option-flag-island:
@@ -639,15 +639,19 @@ from its default.
allows for `island visualization <https://youtu.be/Vc1tq0fFvQA>`__.
In a future release, the constraint solver will exploit the disjoint nature of constraint islands.
.. _option-flag-nativeccd:
:at:`nativeccd`: :at-val:`[disable, enable], "disable"`
This flag enables the native convex collision detection pipeline instead of using the
`libccd library <https://github.com/danfis/libccd>`__.
.. _compiler:
**compiler** (*)
~~~~~~~~~~~~~~~~
This element is used to set options for the built-in parser and compiler. After parsing and compilation it no longer has
any effect. The settings here are global and apply to the entire model.
This element is used to set options for the built-in parser and compiler. After parsing and compilation it no longer
has any effect. The settings here are global and apply to the entire model.
.. _compiler-autolimits: