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MuJoCo Warp documentation: nccdmax / naccdmax

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Change-Id: Ia4e5c9a700b809815bd40af048762bfecde9231a
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Taylor Howell
2026-02-17 03:11:54 -08:00
committed by Copybara-Service
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@@ -401,6 +401,14 @@ Memory allocated inline, including for CCD and the constraint solver, can also b
Sparse Jacobians can enable significant memory savings. Updates for this feature are tracked in GitHub issue
`#88 <https://github.com/google-deepmind/mujoco_warp/issues/88>`__.
The :func:`mjw.make_data <mujoco_warp.make_data>` or :func:`mjw.put_data <mujoco_warp.put_data>` argument
``nccdmax`` / ``naccdmax`` can be set to a value less than `nconmax`_ / `naconmax`_ in order to reduce the memory
requirements for CCD. The value for this parameter should be the maximum number of contacts generated by a CCD
collider, per world or for all worlds, respectively. For example, a batched simulation with 10 worlds that generates 80
total contacts with per-collider contacts: mesh-mesh: 30 (CCD), ellipsoid-ellipsoid: 10 (CCD), and sphere-sphere: 40
(primitive) should set `nconmax`_ / `naconmax`_ to at least 8 / 80 (may require more for broadphase) and ``nccdmax`` /
``naccdmax`` to 3 / 30.
Batched :class:`Model <mujoco_warp.Model>` Fields
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