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Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD.

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PiperOrigin-RevId: 441482552
Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb
This commit is contained in:
Saran Tunyasuvunakool
2022-04-13 16:22:26 +01:00
parent 55c1c91382
commit 87539dbd24
18 changed files with 132 additions and 83 deletions
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doc/XMLreference.rst
+10 -2
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@@ -99,7 +99,7 @@ XML schema
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`override` | :at:`energy` | :at:`fwdinv` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`sensornoise` | | | |
| | | | :at:`sensornoise` | :at:`multiccd` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`size` | \* | .. table:: |
@@ -1791,11 +1791,19 @@ from its default.
This flag enables the simulation of sensor noise. When disabled (which is the default) noise is not added to
sensordata, even if the sensors specify non-zero noise amplitudes. When enabled, zero-mean Gaussian noise is added to
the underlying deterministic sensor data. Its standard deviation is determined by the noise parameter of each sensor.
:at:`multiccd`: :at-val:`[disable, enable], "disable"` **(experimental feature)**
This flag enables multiple-contact collision detection for geom pairs that use the general-purpose convex-convex
collider based on :ref:`libccd <coChecking>` e.g., mesh-mesh collisions. This can be useful when the contacting geoms
have a flat surface, and the single contact point generated by the convex-convex collider cannot accurately capture
the surface contact, leading to instabilities that typically manifest as sliding or wobbling. Multiple contact points
are found by rotating the two geoms by ±1e-3 radians around the tangential axes and re-running the collision
function. If a new contact is detected it is added, allowing for up to 4 additional contact points. This feature is
currently considered experimental, and both the behavior and the way it is activated may change in the future.
.. _size:
**size** (*)
~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~
This element specifies size parameters that cannot be inferred from the number of elements in the model. Unlike the
fields of mjOption which can be modified at runtime, sizes are structural parameters and should not be modified after