From 2a46ca37874181bbae6ac148ba9797a53101d0b9 Mon Sep 17 00:00:00 2001 From: Nimrod Gileadi Date: Wed, 20 Dec 2023 05:01:55 -0800 Subject: [PATCH] Update the documentation on the maximum number of contacts from hfield collisions. The docs were incorrectly asserting that the limit is 9 contacts, which hasn't been true since version 1.5. This fixes #1285. PiperOrigin-RevId: 592526249 Change-Id: Id45d73666fec8dcfd18d11605975e787f2cfeba2 --- doc/XMLreference.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 6ca8c13b..8fb1edd3 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -1378,9 +1378,9 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe | For collision detection, a height field is treated as a union of triangular prisms. Collisions between height fields and other geoms (except for planes and other height fields which are not supported) are computed by first selecting the sub-grid of prisms that could collide with the geom based on its bounding box, and then using the general convex - collider. The number of possible contacts between a height field and a geom is limited to 9; any contacts beyond that - are discarded. To avoid penetration due to discarded contacts, the spatial features of the height field should be - large compared to the geoms it collides with. + collider. The number of possible contacts between a height field and a geom is limited to 50 + (:ref:`mjMAXCONPAIR `); any contacts beyond that are discarded. To avoid penetration due to discarded + contacts, the spatial features of the height field should be large compared to the geoms it collides with. .. _asset-hfield-name: