From 298ce31e398cc5cb6aec980aeb14fe79e98ccd48 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 4 Nov 2024 04:33:59 -0800 Subject: [PATCH] Update docs to highlight `nativeccd` PiperOrigin-RevId: 692918061 Change-Id: I9e44bc3123fe6b8a41b769c7de01b20e3c56d758 --- doc/changelog.rst | 10 ++++++++-- doc/modeling.rst | 2 ++ 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index a414cd39..bee62085 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -5,11 +5,17 @@ Changelog Upcoming version (not yet released) ----------------------------------- +Feature promotion +^^^^^^^^^^^^^^^^^ +- The :doc:`Model Editing` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an + in-development feature, is now stable and recommended for general use. +- The native convex collision detection pipeline introduced in 3.2.3 and enabled by the + :ref:`nativeccd` flag, is not yet the default but is already recommended for general use. + Please try it when encountering collision-related problems and report any issues you encounter. + General ^^^^^^^ -- The :doc:`Model Editing` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an - in-development feature, is now stable and recommended for general use. - The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific :ref:`inertia` attribute. - The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed. diff --git a/doc/modeling.rst b/doc/modeling.rst index 9f3bc202..b68d5e99 100644 --- a/doc/modeling.rst +++ b/doc/modeling.rst @@ -1672,6 +1672,8 @@ better visualize and understand the contact configuration and resulting forces. geometry (e.g., bumps), so slippage is prevented by the normal force and not only frictional components. b. If contacts are between flat surfaces, try enabling the :ref:`multiccd` flag, which allows the detector to find more contacts than the single contact returned by the convex-convex collider. + c. Try enabling the native collision detection pipeline by setting the :ref:`nativeccd` flag, + which uses a more accurate and efficient convex collision detection algorithm. **High-frequency vibration** High-frequency, low-amplitude vibrations are also a real-world problem in many industrial settings, but unlike in