From a501731089a7563abf49337d1049dd6269cbcf9d Mon Sep 17 00:00:00 2001 From: Sam Haves Date: Wed, 6 May 2026 10:21:18 -0700 Subject: [PATCH] Update multiccd default in mjcPhysics. PiperOrigin-RevId: 911410939 Change-Id: Ia20b5be87f85c4662b71994dd824d90c6b98b3ed --- doc/changelog.rst | 6 ++++++ include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h | 2 +- src/experimental/usd/mjcPhysics/generatedSchema.usda | 2 +- src/experimental/usd/mjcPhysics/schema.usda | 2 +- test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc | 2 ++ 5 files changed, 11 insertions(+), 3 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index dfa1a99e..466c02fc 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -30,6 +30,12 @@ General |br| ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``. + +Bug fixes +^^^^^^^^^ + +- Fixed default for multiccd in :ref:`mjcPhysics`. + Python ^^^^^^ diff --git a/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h b/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h index 2ed55495..7d9b4b37 100644 --- a/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h +++ b/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h @@ -1319,7 +1319,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase { /// /// | || /// | -- | -- | - /// | Declaration | `uniform bool mjc:flag:multiccd = 0` | + /// | Declaration | `uniform bool mjc:flag:multiccd = 1` | /// | C++ Type | bool | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform | diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda index 633ec10d..48229205 100644 --- a/src/experimental/usd/mjcPhysics/generatedSchema.usda +++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda @@ -138,7 +138,7 @@ class "MjcSceneAPI" ( displayName = "Mid-Phase Collision Filtering Toggle" doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)." ) - uniform bool mjc:flag:multiccd = 0 ( + uniform bool mjc:flag:multiccd = 1 ( displayName = "Multiple Contact Collision Detection (CCD) Toggle" doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider." ) diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda index 62c1d993..a0c50967 100644 --- a/src/experimental/usd/mjcPhysics/schema.usda +++ b/src/experimental/usd/mjcPhysics/schema.usda @@ -493,7 +493,7 @@ class "MjcSceneAPI" doc = """Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4.""" ) - uniform bool mjc:flag:multiccd = False ( + uniform bool mjc:flag:multiccd = True ( customData = { string apiName = "MultiCCDFlag" } diff --git a/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc b/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc index d7f106d4..59de7649 100644 --- a/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc +++ b/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc @@ -172,6 +172,8 @@ TEST_F(MjcPhysicsSceneTest, TestDefaults) { mjDSBL_EULERDAMP); EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(AutoResetFlag, mjDSBL_AUTORESET); + EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MultiCCDFlag, + mjDSBL_MULTICCD); EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(OverrideFlag, mjENBL_OVERRIDE);