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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
+6 -6
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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>` computation is always performed, independently of the standard collision :ref:`selection and filtering<coSelection>`
pipeline. These 3 sensors share some common properties: 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: .. _collision-sensors-cutoff:
:at:`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>`. 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. 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` :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 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 :at:`geom2` attributes or implicitly, using :at:`body1`, :at:`body2`. In the latter case the sensor will iterate over
doc/modeling.rst
+2 -1
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@@ -1090,7 +1090,8 @@ Here we describe the XML attributes common to all sensor types, so as to avoid r
deviation information for later use. deviation information for later use.
:at:`cutoff`: :at-val:`real, "0"` :at:`cutoff`: :at-val:`real, "0"`
When this value is positive, it limits the absolute value of the sensor output. It is also used to normalize the When this value is positive, it limits the absolute value of the sensor output. It is also used to normalize the
sensor output in the sensor data plots in :ref:`simulate.cc <saSimulate>`. sensor data plots in :ref:`simulate.cc <saSimulate>`. Note that :at:`cutoff` has a different meaning for
:ref:`collision sensors<collision-sensors>`.
:at:`user`: :at-val:`real(nuser_sensor), "0 0 ..."` :at:`user`: :at-val:`real(nuser_sensor), "0 0 ..."`
See :ref:`User parameters <CUser>`. See :ref:`User parameters <CUser>`.