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Update docs to highlight nativeccd

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PiperOrigin-RevId: 692918061
Change-Id: I9e44bc3123fe6b8a41b769c7de01b20e3c56d758
This commit is contained in:
Yuval Tassa
2024-11-04 04:33:59 -08:00
committed by Copybara-Service
parent c168ac3397
commit 298ce31e39
2 changed files with 10 additions and 2 deletions
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doc/changelog.rst
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@@ -5,11 +5,17 @@ Changelog
Upcoming version (not yet released) Upcoming version (not yet released)
----------------------------------- -----------------------------------
Feature promotion
^^^^^^^^^^^^^^^^^
- The :doc:`Model Editing<programming/modeledit>` 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<option-flag-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 General
^^^^^^^ ^^^^^^^
- The :doc:`Model Editing<programming/modeledit>` 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 - The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
:ref:`inertia<asset-mesh-inertia>` attribute. :ref:`inertia<asset-mesh-inertia>` attribute.
- The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed. - The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed.
doc/modeling.rst
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@@ -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. 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<option-flag-multiccd>` flag, which allows b. If contacts are between flat surfaces, try enabling the :ref:`multiccd<option-flag-multiccd>` flag, which allows
the detector to find more contacts than the single contact returned by the convex-convex collider. 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<option-flag-nativeccd>` flag,
which uses a more accurate and efficient convex collision detection algorithm.
**High-frequency vibration** **High-frequency vibration**
High-frequency, low-amplitude vibrations are also a real-world problem in many industrial settings, but unlike in High-frequency, low-amplitude vibrations are also a real-world problem in many industrial settings, but unlike in