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Add documentation of ellipsoid-based fluid drag model.

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PiperOrigin-RevId: 566935233
Change-Id: I45980ea2def06d5ffd9091c49543b737b864701d
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Yuval Tassa
2023-09-20 05:40:57 -07:00
committed by Copybara-Service
parent dfd48dd821
commit 35e7bb354d
13 changed files with 675 additions and 97 deletions
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doc/programming/simulation.rst
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@@ -888,8 +888,8 @@ function is essentially free in terms of CPU cost; so do not hesitate to use thi
Contacts
~~~~~~~~
Collision detection and solving for contact forces were explained in detail in the :doc:`../computation` chapter. Here
we further clarify contact processing from a programming perspective.
Collision detection and solving for contact forces were explained in detail in the :doc:`../computation/index` chapter.
Here we further clarify contact processing from a programming perspective.
The collision detection stage finds contacts between geoms, and records them in the array ``mjData.contact`` of
:ref:`mjContact` data structures. They are sorted such that multiple contacts between the same pair of bodies are