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Update multiccd default in mjcPhysics.

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PiperOrigin-RevId: 911410939
Change-Id: Ia20b5be87f85c4662b71994dd824d90c6b98b3ed
This commit is contained in:
Sam Haves
2026-05-06 10:21:18 -07:00
committed by Copybara-Service
parent 2aa2131057
commit a501731089
5 changed files with 11 additions and 3 deletions
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doc/changelog.rst
+6
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@@ -30,6 +30,12 @@ General
|br| ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``. |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 Python
^^^^^^ ^^^^^^
include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+1 -1
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@@ -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 | /// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
src/experimental/usd/mjcPhysics/generatedSchema.usda
+1 -1
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@@ -138,7 +138,7 @@ class "MjcSceneAPI" (
displayName = "Mid-Phase Collision Filtering Toggle" displayName = "Mid-Phase Collision Filtering Toggle"
doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)." 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" displayName = "Multiple Contact Collision Detection (CCD) Toggle"
doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider." doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."
) )
src/experimental/usd/mjcPhysics/schema.usda
+1 -1
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@@ -493,7 +493,7 @@ class "MjcSceneAPI"
doc = """Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4.""" 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 = { customData = {
string apiName = "MultiCCDFlag" string apiName = "MultiCCDFlag"
} }
test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc
+2
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@@ -172,6 +172,8 @@ TEST_F(MjcPhysicsSceneTest, TestDefaults) {
mjDSBL_EULERDAMP); mjDSBL_EULERDAMP);
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(AutoResetFlag, EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(AutoResetFlag,
mjDSBL_AUTORESET); mjDSBL_AUTORESET);
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MultiCCDFlag,
mjDSBL_MULTICCD);
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(OverrideFlag, EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(OverrideFlag,
mjENBL_OVERRIDE); mjENBL_OVERRIDE);