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Improve solver parameter documentation, in particular for frictional constraints.

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PiperOrigin-RevId: 873364458
Change-Id: Ie4da21abc2ee54d9eaaefc81b3d2624a520ad96e
This commit is contained in:
Yuval Tassa
2026-02-21 09:14:24 -08:00
committed by Copybara-Service
parent c428f675e7
commit 9d6d9089e5
3 changed files with 58 additions and 27 deletions
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doc/XMLreference.rst
+5 -3
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@@ -2263,7 +2263,8 @@ rotations as unit quaternions.
.. _body-joint-solimpfriction:
:at:`solreffriction`, :at:`solimpfriction`
Constraint solver parameters for simulating dry friction. See :ref:`CSolver`.
Constraint solver parameters for simulating dry friction.
See also :ref:`Friction<CSolverFriction>`.
.. _body-joint-stiffness:
@@ -4074,7 +4075,7 @@ friction can only be created with this element.
Note that as with other :at:`solreffriction` attributes, the constraint violation is identically 0. Therefore, when
using positive semantics :at:`solreffriction[1]` is ignored, while for negative semantics :at:`solreffriction[0]` is
ignored. See :ref:`CSolver` for more details.
ignored. See :ref:`Friction<CSolverFriction>` for more details.
.. _contact-pair-margin:
@@ -4936,7 +4937,8 @@ length X, as in the clip on the right of `this example model
.. _tendon-spatial-solimpfriction:
:at:`solreffriction`, :at:`solimpfriction`
Constraint solver parameters for simulating dry friction in the tendon. See :ref:`CSolver`.
Constraint solver parameters for simulating dry friction in the tendon.
See also :ref:`Friction<CSolverFriction>`.
.. _tendon-spatial-margin: