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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 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>`__. `#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 Batched :class:`Model <mujoco_warp.Model>` Fields
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