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Update the documentation on the maximum number of contacts from hfield collisions.

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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
This commit is contained in:
Nimrod Gileadi
2023-12-20 05:01:55 -08:00
committed by Copybara-Service
parent 77b4132c47
commit 2a46ca3787
1 changed files with 3 additions and 3 deletions
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doc/XMLreference.rst
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@@ -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 | 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 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 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 collider. The number of possible contacts between a height field and a geom is limited to 50
are discarded. To avoid penetration due to discarded contacts, the spatial features of the height field should be (:ref:`mjMAXCONPAIR <glNumeric>`); any contacts beyond that are discarded. To avoid penetration due to discarded
large compared to the geoms it collides with. contacts, the spatial features of the height field should be large compared to the geoms it collides with.
.. _asset-hfield-name: .. _asset-hfield-name: