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Replace margin/gap max with sum.

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PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
This commit is contained in:
Yuval Tassa
2026-02-11 14:21:37 -08:00
committed by Copybara-Service
parent 336e1026a4
commit 6af0d4c823
9 changed files with 61 additions and 30 deletions
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doc/changelog.rst
+3
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@@ -77,6 +77,9 @@ General
- Removed ``getdir`` from the ``mjpResourceProvider`` struct. All Resource Providers now use the same shared
implementation.
- When combining the ``margin`` and ``gap`` :ref:`parameters<CContact>` of two geoms to obtain the parameters
of a contact, the respective values are now **summed** rather than than taking the maximum. This allows geom
margins to be a proper "inflation" of the geom.
- Camera frustum visualization is now triggered by setting :ref:`resolution<body-camera-resolution>` to values larger
than 1. Relatedly, frustum visualization also works for :ref:`orthographic<body-camera-projection>` cameras.
doc/modeling.rst
+1 -1
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@@ -490,7 +490,7 @@ are as follows:
an individual geom. This is why MuJoCo does not allow anisotropic friction in the individual geom specifications, but
only in the explicit contact pair specifications.
**margin**, **gap**
The maximum of the two geom margins (or gaps respectively) is used. The geom priority is ignored here, because the
The sum of the two geom margins (or gaps respectively) is used. The geom priority is ignored here, because the
margin and gap are distance properties and a one-sided specification makes little sense.
.. _solmixing: