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Improve mjContact documentation. Fixes #1136

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PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
This commit is contained in:
Yuval Tassa
2023-11-06 07:27:40 -08:00
committed by Copybara-Service
parent dafd041ad8
commit 8a5e2b19a8
3 changed files with 9 additions and 9 deletions
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doc/includes/references.h
+3 -3
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@@ -84,7 +84,7 @@ struct mjContact_ { // result of collision detection functions
// contact parameters set by near-phase collision function // contact parameters set by near-phase collision function
mjtNum dist; // distance between nearest points; neg: penetration mjtNum dist; // distance between nearest points; neg: penetration
mjtNum pos[3]; // position of contact point: midpoint between geoms mjtNum pos[3]; // position of contact point: midpoint between geoms
mjtNum frame[9]; // normal is in [0-2] mjtNum frame[9]; // normal is in [0-2], points from geom[0] to geom[1]
// contact parameters set by mj_collideGeoms // contact parameters set by mj_collideGeoms
mjtNum includemargin; // include if dist<includemargin=margin-gap mjtNum includemargin; // include if dist<includemargin=margin-gap
@@ -99,8 +99,8 @@ struct mjContact_ { // result of collision detection functions
// contact descriptors set by mj_collideXXX // contact descriptors set by mj_collideXXX
int dim; // contact space dimensionality: 1, 3, 4 or 6 int dim; // contact space dimensionality: 1, 3, 4 or 6
int geom1; // id of geom 1 int geom1; // id of geom 1; deprecated, use geom[0]
int geom2; // id of geom 2 int geom2; // id of geom 2; deprecated, use geom[1]
int geom[2]; // geom ids; -1 for flex int geom[2]; // geom ids; -1 for flex
int flex[2]; // flex ids; -1 for geom int flex[2]; // flex ids; -1 for geom
int elem[2]; // element ids; -1 for geom or flex vertex int elem[2]; // element ids; -1 for geom or flex vertex
include/mujoco/mjdata.h
+3 -3
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@@ -100,7 +100,7 @@ struct mjContact_ { // result of collision detection functions
// contact parameters set by near-phase collision function // contact parameters set by near-phase collision function
mjtNum dist; // distance between nearest points; neg: penetration mjtNum dist; // distance between nearest points; neg: penetration
mjtNum pos[3]; // position of contact point: midpoint between geoms mjtNum pos[3]; // position of contact point: midpoint between geoms
mjtNum frame[9]; // normal is in [0-2] mjtNum frame[9]; // normal is in [0-2], points from geom[0] to geom[1]
// contact parameters set by mj_collideGeoms // contact parameters set by mj_collideGeoms
mjtNum includemargin; // include if dist<includemargin=margin-gap mjtNum includemargin; // include if dist<includemargin=margin-gap
@@ -115,8 +115,8 @@ struct mjContact_ { // result of collision detection functions
// contact descriptors set by mj_collideXXX // contact descriptors set by mj_collideXXX
int dim; // contact space dimensionality: 1, 3, 4 or 6 int dim; // contact space dimensionality: 1, 3, 4 or 6
int geom1; // id of geom 1 int geom1; // id of geom 1; deprecated, use geom[0]
int geom2; // id of geom 2 int geom2; // id of geom 2; deprecated, use geom[1]
int geom[2]; // geom ids; -1 for flex int geom[2]; // geom ids; -1 for flex
int flex[2]; // flex ids; -1 for geom int flex[2]; // flex ids; -1 for geom
int elem[2]; // element ids; -1 for geom or flex vertex int elem[2]; // element ids; -1 for geom or flex vertex
introspect/structs.py
+3 -3
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@@ -3871,7 +3871,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'), inner_type=ValueType(name='mjtNum'),
extents=(9,), extents=(9,),
), ),
doc='normal is in [0-2]', doc='normal is in [0-2], points from geom[0] to geom[1]',
), ),
StructFieldDecl( StructFieldDecl(
name='includemargin', name='includemargin',
@@ -3931,12 +3931,12 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl( StructFieldDecl(
name='geom1', name='geom1',
type=ValueType(name='int'), type=ValueType(name='int'),
doc='id of geom 1', doc='id of geom 1; deprecated, use geom[0]',
), ),
StructFieldDecl( StructFieldDecl(
name='geom2', name='geom2',
type=ValueType(name='int'), type=ValueType(name='int'),
doc='id of geom 2', doc='id of geom 2; deprecated, use geom[1]',
), ),
StructFieldDecl( StructFieldDecl(
name='geom', name='geom',