From 4d256c0ff152600dd9a1043ee59c704f14f2e177 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Tue, 17 Feb 2026 03:11:54 -0800 Subject: [PATCH] MuJoCo Warp documentation: `nccdmax` / `naccdmax` PiperOrigin-RevId: 871221522 Change-Id: Ia4e5c9a700b809815bd40af048762bfecde9231a --- doc/mjwarp/index.rst | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index 93e6e611..3e6db4d6 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -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 `__. +The :func:`mjw.make_data ` or :func:`mjw.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 ` Fields =================================================