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Mention the new Implicit-in-velocity Euler integrator in the XML reference.

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PiperOrigin-RevId: 465754132
Change-Id: If1578afe00a69bfa6816d8e18d5fdc9296a69dc4
This commit is contained in:
Kevin Zakka
2022-08-06 05:43:50 -07:00
committed by Copybara-Service
parent 9cd1c2f726
commit a6841120f8
3 changed files with 5 additions and 3 deletions
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doc/XMLreference.rst
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@@ -1758,9 +1758,10 @@ adjust it properly through the XML.
:at:`o_solref`, :at:`o_solimp`
These attributes replace the solref and solimp parameters of all active contact pairs when contact override is
enabled. See :ref:`CSolver` for details.
:at:`integrator`: :at-val:`[Euler, RK4], "Euler"`
:at:`integrator`: :at-val:`[Euler, RK4, implicit], "Euler"`
This attribute selects the numerical :ref:`integrator <geIntegration>` to be used. Currently the available
integrators are the semi-implicit Euler method and the fixed-step 4-th order Runge Kutta method.
integrators are the semi-implicit Euler method, the fixed-step 4-th order Runge Kutta method, and
the Implicit-in-velocity Euler method.
:at:`collision`: :at-val:`[all, predefined, dynamic], "all"`
This attribute specifies which geom pairs should be checked for collision; recall :ref:`Collision` in the Computation
chapter. "predefined" means that only the explicitly-defined contact :ref:`pairs <pair>` are checked. "dynamic" means