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Reduce mjMAXCONPAIR to 50.

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Use only the first `mjMAXCONPAIR` contacts in SDF-mesh collisions after sorting them using the penetration depth.

PiperOrigin-RevId: 558176217
Change-Id: Ia1ee12bd5ceb81e4c52f143831ad00426e8cf174
This commit is contained in:
Alessio Quaglino
2023-08-18 10:01:57 -07:00
committed by Copybara-Service
parent ba12a1354b
commit b5f9628dd7
5 changed files with 52 additions and 20 deletions
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doc/changelog.rst
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@@ -17,7 +17,6 @@ General
- Added new SDF plugin for defining implicit geometries. The plugin must define methods computing an SDF and its
gradient at query points See the :ref:`documentation<exWriting>` for more details.
- Increased ``mjMAXCONPAIR`` to 100.
.. youtube:: Vc1tq0fFvQA
:align: right