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Minor improvements to collision sensor documentation.

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PiperOrigin-RevId: 862767431
Change-Id: I53861430e7868b23e37be9694f195a2dd3685db4
This commit is contained in:
Yuval Tassa
2026-01-29 09:20:28 -08:00
committed by Copybara-Service
parent 42b81966b7
commit 883e69d7b1
2 changed files with 8 additions and 7 deletions
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doc/XMLreference.rst
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@@ -7431,6 +7431,12 @@ smallest signed distance between the surfaces of two geoms using the narrow-phas
computation is always performed, independently of the standard collision :ref:`selection and filtering<coSelection>`
pipeline. These 3 sensors share some common properties:
.. admonition:: different (correct) behavior under `nativeccd`
:class: note
As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
:ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
.. _collision-sensors-cutoff:
:at:`cutoff`
@@ -7440,12 +7446,6 @@ pipeline. These 3 sensors share some common properties:
to geom-geom penetration) will be reported by :ref:`sensor/distance<sensor-distance>`.
In order to determine collision properties of non-penetrating geom pairs, a positive :at:`cutoff` is required.
.. admonition:: different (correct) behavior under `nativeccd`
:class: note
As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
:ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
:at:`geom1`, :at:`geom2`, :at:`body1`, :at:`body2`
For all 3 collision sensor types, the two colliding geoms can be specified explicitly using the :at:`geom1` and
:at:`geom2` attributes or implicitly, using :at:`body1`, :at:`body2`. In the latter case the sensor will iterate over