Add mj_maxContact API function.
PiperOrigin-RevId: 903135055 Change-Id: I5f103c7d51f97e327c923bc567002ace835f5517
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Kyle Bayes
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Copybara-Service
Copybara-Service
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@@ -1718,9 +1718,36 @@ work, but it pays off at runtime and yields both faster and more stable simulati
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Pair-wise colliders
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^^^^^^^^^^^^^^^^^^^
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The table below provides information about the colliders used for different geom pairs. The second row in each cell
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lists the maximum number of contacts generated, possibly with ``multiccd`` enabled. For example, ``Mesh`` / ``Mesh``
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will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
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The table below provides information about the colliders used for different geom pairs. These values can be computed
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dynamically by the :ref:`mj_maxContact` function. Use the toggles to see the max number of contacts returned with the
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parameters :ref:`nativeccd<option-flag-nativeccd>`, :ref:`multiccd<option-flag-multiccd>`, and
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:ref:`margin<body-geom-margin>`.
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.. raw:: html
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<div class="pairwise-toggles">
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<div class="pairwise-toggle-item">
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<label class="pairwise-switch">
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<input type="checkbox" id="nativeccd-checkbox" checked>
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<span class="pairwise-slider"></span>
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</label>
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<span>nativeccd</span>
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</div>
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<div class="pairwise-toggle-item">
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<label class="pairwise-switch">
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<input type="checkbox" id="multiccd-checkbox">
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<span class="pairwise-slider"></span>
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</label>
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<span>multiccd</span>
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</div>
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<div class="pairwise-toggle-item">
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<label class="pairwise-switch">
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<input type="checkbox" id="margin-checkbox">
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<span class="pairwise-slider"></span>
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</label>
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<span>with margin</span>
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</div>
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</div>
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.. list-table::
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:header-rows: 1
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@@ -1744,7 +1771,7 @@ will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
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- | primitive
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| **1**
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- | primitive
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| **2**
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| **4**
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- | primitive
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| **4**
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- | primitive
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@@ -1787,12 +1814,28 @@ will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
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| **2**
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- | CCD
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| **1**
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- | CCD
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| **1**, **4**
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-
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.. raw:: html
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<div class="line">CCD</div>
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<div class="line">
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<div class="multiccd-off"><strong>1</strong></div>
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<div class="multiccd-native"><strong>5</strong></div>
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<div class="multiccd-legacy"><strong>5</strong></div>
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</div>
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- | primitive
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| **2**
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- | CCD
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| **1**, **4**
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-
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.. raw:: html
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<div class="line">CCD</div>
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<div class="line">
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<div class="multiccd-off"><strong>1</strong></div>
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<div class="multiccd-native"><strong>5</strong></div>
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<div class="multiccd-legacy"><strong>5</strong></div>
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</div>
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- | SDF
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| :ref:`sdf_initpoints <option-sdf_initpoints>`
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* - Ellipsoid
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@@ -1812,12 +1855,36 @@ will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
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-
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-
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-
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- | CCD
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| **1**, **4**
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- | CCD
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| **1**, **4**
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- | CCD
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| **1**, **4**
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-
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.. raw:: html
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<div class="line">CCD</div>
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<div class="line">
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<div class="multiccd-off"><strong>1</strong></div>
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<div class="multiccd-native"><strong>5</strong></div>
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<div class="multiccd-legacy"><strong>5</strong></div>
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</div>
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-
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.. raw:: html
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<div class="line">CCD</div>
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<div class="line">
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<div class="multiccd-off"><strong>1</strong></div>
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<div class="multiccd-native"><strong>5</strong></div>
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<div class="multiccd-legacy"><strong>5</strong></div>
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</div>
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-
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.. raw:: html
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<div class="line">CCD</div>
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<div class="line">
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<div class="multiccd-off"><strong>1</strong></div>
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<div class="multiccd-native"><strong>5</strong></div>
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<div class="multiccd-legacy"><strong>5</strong></div>
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</div>
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- | SDF
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| :ref:`sdf_initpoints <option-sdf_initpoints>`
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* - Box
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@@ -1827,8 +1894,16 @@ will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
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-
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- | primitive
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| **8**
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- | CCD
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| **1**, **4**
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-
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.. raw:: html
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<div class="line">CCD</div>
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<div class="line">
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<div class="multiccd-off"><strong>1</strong></div>
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<div class="multiccd-native"><strong>4</strong></div>
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<div class="multiccd-legacy"><strong>5</strong></div>
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</div>
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- | SDF
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| :ref:`sdf_initpoints <option-sdf_initpoints>`
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* - Mesh
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@@ -1837,8 +1912,16 @@ will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
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-
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-
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-
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- | CCD
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| **1**, **4**
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-
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.. raw:: html
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<div class="line">CCD</div>
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<div class="line">
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<div class="multiccd-off"><strong>1</strong></div>
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<div class="multiccd-native"><strong>4</strong></div>
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<div class="multiccd-legacy"><strong>5</strong></div>
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</div>
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- | MeshSDF
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| :ref:`sdf_initpoints <option-sdf_initpoints>`
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* - SDF
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@@ -1851,6 +1934,32 @@ will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
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- | SDF
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| :ref:`sdf_initpoints <option-sdf_initpoints>`
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.. raw:: html
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<script>
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const pairwiseToggles = () => {
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const table = document.querySelector('.table-pairwise');
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const toggles = [
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{id: 'nativeccd-checkbox', cls: 'nativeccd-enabled'},
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{id: 'multiccd-checkbox', cls: 'multiccd-enabled'},
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{id: 'margin-checkbox', cls: 'margin-enabled'}
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];
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toggles.forEach(toggle => {
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const cb = document.getElementById(toggle.id);
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if (cb.checked) {
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table.classList.add(toggle.cls);
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}
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cb.addEventListener('change', () => {
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table.classList.toggle(toggle.cls, this.checked);
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});
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});
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};
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pairwiseToggles();
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</script>
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.. _Sleeping:
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Sleeping islands
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